Analysis of Factors Influencing Suture Needle Bending in Robotic Microsurgery

This study investigates factors influencing micro suture needle bending in robotic surgery. An experiment was conducted, varying needle shape, curvature, tissue elasticity, suturing velocity, and suturing patterns. Regression analysis and torque measurements revealed that curvature radius and its interaction with needle shape significantly affect deflection. The dominant factors differed across suturing patterns due to variations in tissue contact conditions. These findings support the development of deflection-aware needle designs and control strategies for safe automated suturing.