Analysis of the Structure of Surgical Activity for a Suturing and Knot-Tying Task. oleh S Swaroop Vedula, Anand O Malpani, Lingling Tao, George Chen, Yixin Gao, Piyush Poddar, Narges Ahmidi, Christopher Paxton, Rene Vidal, Sanjeev Khudanpur, Gregory D Hager, Chi Chiung Grace Chen