A simulation framework for wound closure by suture for the endo stitch suturing instrument

Our simulation framework for wound closure by suture is designed for education and training purposes. Currently, it is designed specifically to support a simulation of the Endo Stitch^TM suturing instrument by Covidien, and could be extended for other surgical instruments designed for intracorporeal suturing. The framework allows the user to perform a virtual wound closure by suture with real surgical instrument handles customized to fit on haptic devices. The wound simulation is based on a triangular surface mesh embedded in a linear hexahedral finite element mesh, whereas the suture simulation is based on a simplified Cosserat theory of elastic rods. The simulation utilizes a combination of physically-based and control-based simulations.