5 papers · 1 filter
CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning
Yafei Ou, Ahnaf Naheen, Tleukhan Mussin +3
We introduce CRESSim-Neo, a batched GPU simulation engine for surgical robotics and robot learning. CRESSim-Neo combines position-based simulation of rigid bodies, deformable tissu…
Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning
Tleukhan Mussin, Yafei Ou, Mahdi Tavakoli
Recent advances in robotics research have created a strong demand for high-performance simulators. Surgical robotics simulation faces unique challenges due to the need to model div…
CRESSim-MPM: A Material Point Method Library for Surgical Soft Body Simulation with Cutting and Suturing
Yafei Ou, Mahdi Tavakoli
A number of recent studies have focused on developing surgical simulation platforms to train machine learning (ML) agents or models with synthetic data for surgical assistance. Whi…
Learning Autonomous Surgical Irrigation and Suction with the da Vinci Research Kit Using Reinforcement Learning
Yafei Ou, Mahdi Tavakoli
The irrigation-suction process is a common procedure to rinse and clean up the surgical field in minimally invasive surgery (MIS). In this process, surgeons first irrigate liquid,…
From Decision to Action in Surgical Autonomy: Multi-Modal Large Language Models for Robot-Assisted Blood Suction
Sadra Zargarzadeh, Maryam Mirzaei, Yafei Ou +1
The rise of Large Language Models (LLMs) has impacted research in robotics and automation. While progress has been made in integrating LLMs into general robotics tasks, a noticeabl…