STITCH 2.0提升缝合机器人精度，实现更高效闭合伤口。
STITCH 2.0: Extending Augmented Suturing with EKF Needle Estimation and Thread Management
- 融合扩展卡尔曼滤波与新解缠线算法，精准追踪针头姿态。
- 平均完成4.87针/次，伤口闭合率达74.4%，效率提升38%。
- 适合医疗机器人研发及手术辅助系统开发者参考。
外科缝合是一项高精度操作，直接影响患者愈合与疤痕形成。不同外科医生的缝合技能差异显著，亟需机器人辅助。此前的机器人缝合系统（如STITCH 1.0）因针头追踪不准和线管理不佳，难以完全闭合伤口。为此，我们提出STITCH 2.0，一个增强型人机协作缝合流程，包含七项改进：改进的扩展卡尔曼滤波（EKF）针头位姿估计、新型线材解缠方法及自动化3D缝合对齐算法。在15次试验中，STITCH 2.0平均实现74.4%的伤口闭合率，每轮使用4.87针，相较基线系统多完成66%的缝合量，耗时减少38%。当允许两次人工干预时，平均完成六针，伤口闭合率达到100%。项目主页：https://stitch-2.github.io/
原文摘要 · Abstract (English)
Surgical suturing is a high-precision task that impacts patient healing and scarring. Suturing skill varies widely between surgeons, highlighting the need for robot assistance. Previous robot suturing works, such as STITCH 1.0 [1], struggle to fully close wounds due to inaccurate needle tracking and poor thread management. To address these challenges, we present STITCH 2.0, an elevated augmented dexterity pipeline with seven improvements including: improved EKF needle pose estimation, new thread untangling methods, and an automated 3D suture alignment algorithm. Experimental results over 15 trials find that STITCH 2.0 on average achieves 74.4% wound closure with 4.87 sutures per trial, representing 66% more sutures in 38% less time compared to the previous baseline. When two human interventions are allowed, STITCH 2.0 averages six sutures with 100% wound closure rate. Project website: https://stitch-2.github.io/
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