Figure 3
Fabrication, working concept, and prototypes. (A) (i) S2 suture-anchor with 3D printed anchors at the initial phase (no pressure). (ii) Completed S2 suture-anchor with pressurized artificial muscle. (iii) Making stitches through tissue. (iv) Tightening the suture and tissue by releasing pressure. (B) Deployment of the lantern and sawtooth anchors after releasing the pressure. (C) S2 suture-anchor prototypes made from STAM, three types of anchors, and commercial surgical needles (details in Table 1). (D) Wound closure procedure using dual surgical robotic arms with continuous stitches of the S2 suture-knot. (E) An S2 suture-knot prototype at high and low pressure.
