发表机构
Seoul National University Hospital; Rosota Inc.; Seoul National University College of Medicine; Seoul National University; Institute of Convergence Medicine with Innovative Technology, Seoul National University Hospital; Eulji University College of Medicine; Chungang University（首尔大学医院; Rosota公司; 首尔大学医学院; 首尔大学; 首尔大学医院创新技术融合医学研究所; 乙支大学医学院; 中央大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对腹腔镜手术机器人策略评估，提出基于隐式积分与实时位姿抓取约束的接触稳定可变形组织仿真器，实现稳定抓取并降低位移误差。
AI 中文摘要
手术机器人的闭环评估需要能够变形、可被抓取和提起、并能重现机器人操作解剖结构的组织。我们提出了一种仿真器，其中该组织从手术区域的固定视角RGB-D记录中重建，通过合成处理去除器械，封闭成水密体积并进行四面体化；该流程未经修改地应用于两个物种的三个标本（十三个器官，146,061个四面体，无倒置单元）。对于一个标本，器官被放置在双手机器人单元中，其中两个Franka FR3机械臂通过6毫米套管针操作电动器械。核心贡献在于保持该单元稳定性的数值和接触设计：隐式积分、与碰撞网格分离的仿真网格、数值保护措施，以及在实时组织位姿下捕获的抓取约束。在45次重复抓取-提起试验中，摩擦抓取在15次试验中0次保持住组织，而每种约束抓取在15次中13次成功；对于移位组织，静息位姿约束产生高达17.8毫米的单步跳动，而实时位姿捕获消除了这一问题。与记录相比，前表面深度误差为1.33至1.41毫米，器官轮廓IoU为0.80，在从视频重现的五次抓取-提起中，地标位移RMSE为11.8毫米，而静态预测为14.2毫米。我们不声称生物保真度；该环境旨在用于闭环可行性、安全性、接触和策略筛选。
英文摘要
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 motorised instruments through 6 mm trocars. The core contribution is the numerical and contact design that keeps this cell stable: implicit integration, simulation meshes separate from collision meshes, numerical guards, and a grasp constraint captured at the live tissue pose. In 45 repeated grasp-lifts, a friction grasp held the tissue in 0 of 15 trials and each constraint grasp in 13 of 15; on displaced tissue, a rest-pose constraint produced one-step snaps of up to 17.8 mm, which live-pose capture eliminates. Against the recording, front-surface depth error is 1.33 to 1.41 mm, organ silhouette IoU is 0.80, and in five grasp-lifts reproduced from video the landmark displacement RMSE is 11.8 mm against 14.2 mm for a static prediction. Biofidelity is not claimed; the environment is intended for closed-loop feasibility, safety, contact and policy screening.
CommentsSubmitted to IEEE ICRA 2027
