Force measurement experiments include the force measurement accuracy experiments based on dynamic model and the interaction force measurement experiments between the surgical instrument and the environment under different experimental tasks such as knot tying and suturing .

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The think of undergo a surgical operation tied me in knot .

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The digital representation of surgical knots proposed in this dissertation benefits the surgical robotic systems to identify the configuration of a knot in the knot-tying task .

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We use eye tweezers and the needle holder tie a surgical knot above the original slipknot so that when fiber taut line and the formation of the previous increase one times it can be a more solid fixed in the scalp .

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