From the 1 of 5 linked papers with an AI index.
5 papers
Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning
Tleukhan Mussin, Yafei Ou, Mahdi Tavakoli
The paper introduces a GPU‑accelerated simulator that combines position‑based dynamics for sutures with the material point method for soft tissue, enabling realistic two‑way contac…
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…
A Realistic Surgical Simulator for Non-Rigid and Contact-Rich Manipulation in Surgeries with the da Vinci Research Kit
Yafei Ou, Sadra Zargarzadeh, Paniz Sedighi +1
Realistic real-time surgical simulators play an increasingly important role in surgical robotics research, such as surgical robot learning and automation, and surgical skills asses…