Gary Guthart

Surgical D-Knot: Augmented Dexterity for Tying Double Knots by Monitoring Optical Flow in Monocular Attention Windows

Knot tying is a fundamental dexterous surgical subtask that is a key step in suturing. One challenge to robot augmentation is limited depth perception due to the small baseline of surgical endoscopic cameras. In this work, we present Surgical D-Knot: an augmented dexterity pipeline combining learned