Supplementary Materials

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}

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.

[Download Movie S1]