Optimization of the Transmission Mechanism for a Robot-Assisted Suturing Device

This paper addresses the issue of inadequate piercing performance in a rapid suturing device and proposes a method for optimizing the dimensions of the mechanism. The approach investigates the variation in the interaction forces between the suturing needle and the tissue, considering the specific characteristics of the suturing device. By analyzing the changes in the interaction forces during the suturing process, the optimization of the transmission mechanism is performed using the interior-point method. The optimized device demonstrates an improvement in piercing performance of approximately 17%.