Supplementary Material for:

Supervised autonomous robotic soft tissue surgery

Azad Shademan, Ryan S. Decker, Justin D. Opfermann, Simon Leonard, Axel Krieger, Peter C. W. Kim*

*Corresponding author. Email: pkim{at}childrensnational.org

Published 4 May 2016, Sci. Transl. Med. 8, 337ra64 (2016)
DOI: 10.1126/scitranslmed.aad9398

This PDF file includes:

• Materials and Methods
• Fig. S1. Young’s modulus calculations for pig bowel and human bowel, with geometry and applied forces kept constant.
• Fig. S2. Deformation patterns for markers illustrate the uncertain nature of motion propagation in soft tissue.
• Fig. S3. Robotic construction of end-to-end anastomosis.
• Table S1. Quantitative geometric quality of ex vivo linear suturing.
• Table S2. Quantitative geometric quality of ex vivo end-to-end anastomosis.
• Legend for movie S1

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Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). Supervised autonomous end-to-end intestinal anastomosis.

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