DP4AuSu: Autonomous Surgical Framework for Suturing Manipulation Using Diffusion Policy With Dynamic Time Wrapping‐Based Locally Weighted Regression
Our novel framework can capture the multimodality in demonstrations and successfully learn the suturing policy and reduce the suturing time. To the best of our knowledge, this work represents the first application of diffusion policy for robotic suturing. We hope this research paves the way for the automation of more complex surgical tasks.
Authors
- Gongcheng Wang
- Zhijiang Du (ORCID: https://orcid.org/0000-0003-3044-9733)
- Weidong Wang (ORCID: https://orcid.org/0000-0002-1236-8350)
- Handong Wang (ORCID: https://orcid.org/0000-0001-5989-9338)
- Wenda Xu (ORCID: https://orcid.org/0009-0001-0703-0929)
- Z. Q. Tan (ORCID: https://orcid.org/0009-0006-3280-1998)
- Zexin Cao
- Haofei Ma (ORCID: https://orcid.org/0009-0001-5061-6191)
Institutions
- Hong Kong Polytechnic University (HK)
- Harbin Institute of Technology (CN)
Publication Details
- Journal
- International Journal of Medical Robotics and Computer Assisted Surgery
- Published
- 2025-05-19
- DOI
- https://doi.org/10.1002/rcs.70072
- Primary Topic
- Soft Robotics and Applications
- Type
- article
- Field-Weighted Citation Impact
- 0.00