A Multirobot Cooperation Framework for Sewing Personalized Stent Grafts

This paper presents a multirobot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes a (personalized) mandrel module, a bimanual sewing module, and a vision module. The mandrel module incorporates the personalized geometry of patients, while the bimanual sewing module adopts a learning-by-demonstration approach to transfer human hand-sewing skills to the robots. The human demonstrations were first observed by the vision module and then encoded using a statistical model to generate the reference motion trajectories. During autonomous robot sewing, the vision module plays the role of coordinating multirobot collaboration. Experimental results show that the robots can adapt to generalized stent designs. The proposed system can also be used for other manipulation tasks, especially for flexible production of customized products and where bimanual or multirobot cooperation is required.