SOURCE-LINKED INTELLIGENCE

Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Closed-loop evaluation of surgical robots requires tissue that deforms, can be grasped and lifted, and reproduces the anatomy in which the robot will operate. We present a simulator in which this tissue is reconstructed from a fixed-view RGB-D recording of the surgical field, composited to remove the instruments, closed into watertight volumes and tetrahedralised; the pipeline was applied unchanged to three specimens of two species (thirteen organs, 146,061 tetrahedra, no inverted elements). For one specimen, the organs are placed in a bimanual cell in which two Franka FR3 arms operate motoris

Read original source ↗ Open in workspace

recordType

paper

region

Global