# A 2D Surgical Simulation Framework for Tool-Tissue Interaction

arXiv: https://arxiv.org/abs/2010.13936 · HTML: https://mlsanity.com/paper/2010.13936/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Oct 2020.

## Built on by (most cited first, 1 of 1)

- [Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking](https://mlsanity.com/paper/2210.16674/) (2022)

## Abstract (arXiv)

The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with robot manipulators is necessary. In this work, we propose a novel 2D simulation framework for tool-tissue interaction. This framework continuously tracks the motion of manipulator and simulates the tissue deformation in presence of collision detection. The deformation energy can be computed for the control and planning task.