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 https://sites.google.com/berkeley.edu/stitch for code and supplemental materials.

翻译：我们提出了STITCH：一种增强灵巧性流水线，用于执行包含线材协调与传递的缝合操作。STITCH迭代执行针头插入、线材扫掠、针头拔出、缝合紧固、针头交接以及带有故障恢复策略的针头姿态校正。我们引入了一种新颖的基于立体相机对的视觉6D针头姿态估计框架和新的缝合运动基元。我们将STITCH与基线方法（包括仅依赖本体感知的策略和无视觉伺服的策略）进行比较。在15次物理实验中，STITCH实现了平均2.93次无需人工干预的缝合和4.47次需人工干预的缝合。代码和补充材料请见https://sites.google.com/berkeley.edu/stitch。