[Movement capture of knot-tying manipulation in microsurgeries]

The surgical dexterous suturing and knotting movements are photographed with binocular stereo vision and the movements' locus is captured through identifying the RGB values in a series of key-frames. Then a normal movement path of knot-tying is obtained through curve-fitting and smoothing. And meanwhile, the workspace of knot-tying manipulation in microsurgeries is got. And thus, a good foundation is laid for the design of an automatic knotting mechanism and for the establishment of a virtual surgery training system.