  This paper presents a versatile robotic system for sewing 3D structured
object. Leveraging on using a customized robotic sewing device and closed-loop
visual servoing control, an all-in-one solution for sewing personalized stent
graft is demonstrated. Stitch size planning and automatic knot tying are
proposed as the two key functions of the system. By using effective stitch size
planning, sub-millimetre sewing accuracy is achieved for stitch sizes ranging
from 2mm to 5mm. In addition, a thread manipulator for thread management and
tension control is also proposed to perform successive knot tying to secure
each stitch. Detailed laboratory experiments have been performed to access the
proposed instruments and allied algorithms. The proposed framework can be
generalised to a wide range of applications including 3D industrial sewing, as
well as transferred to other clinical areas such as surgical suturing.
