  Autonomous surgery has attracted increasing attention for revolutionizing
robotic patient care, yet remains a distant and challenging goal. In this
paper, we propose an image-based framework for high-precision autonomous
suturing operation. We first build an algebraic geometric algorithm to achieve
accurate needle pose estimation, then design the corresponding keypoint-based
calibration network for joint-offset compensation, and further plan and control
suture trajectory. Our solution ranked first among all competitors in the
AccelNet Surgical Robotics Challenge. Videos and codes can be found in
https://sites.google.com/view/accel-2022-cuhk.
