Abstract
We present STITCH: an augmented dexterity pipeline that performs Suture Throws Including Thread Coordination and Handoffs. STITCH iteratively performs needle insertion, thread sweeping, needle extraction, suture cinching, needle handover, and needle pose correction with failure recovery policies. We introduce a novel visual 6D needle pose estimation framework using a stereo camera pair and new suturing motion primitives. We compare STITCH to baselines, including a proprioception-only and a policy without visual servoing. In physical experiments across 15 trials, STITCH achieves an average of 2.93 sutures without human intervention and 4.47 sutures with human intervention. See this https URL for code and supplemental materials.
Abstract (translated)
我们提出了STITCH:一个增强的灵巧管道,用于执行包括线程协调和传递的缝合。STITCH通过迭代执行针插入、线程扫视、针提取、缝合紧固、针传递和针姿态纠正,并使用失败恢复策略实现针的姿位纠正。我们引入了一个新的视觉6D针姿估计框架,使用双目相机对,并新引入了缝合运动元素。我们比较STITCH与基线,包括仅使用自适应性和没有视觉伺服的策略。在15个物理实验中,STITCH在没有人类干预的情况下平均实现了2.93个缝合,在有人类干预的情况下实现了4.47个缝合。你可以在此处查看代码和补充材料链接。
URL
https://arxiv.org/abs/2404.05151
