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SimRetract: Zero-Shot Sim-to-Real Robotic Assistance for Retractor Take-Over in Open Surgery — arXiv:2610.38234

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.38234
License (as archived): CC0-1.0
Archived: 2026-11-01T02:44:11.110Z
SHA-256 of the archived text: dfd5a1369842139e0c01ca87f0215cba0887113bd2742d2af3e0ae684fca7bcc
Stable URL of this page: https://metraipolis.com/documento/dc_248994f9155c

How to cite

SimRetract: Zero-Shot Sim-to-Real Robotic Assistance for Retractor Take-Over in Open Surgery — arXiv:2610.38234 — arXiv (en), https://arxiv.org/abs/2610.38234 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_248994f9155c (Metraipolis archive dc_248994f9155c, sha256 dfd5a1369842139e0c01ca87f0215cba0887113bd2742d2af3e0ae684fca7bcc)

BibTeX

@misc{dc248994f9155c,
  title = {SimRetract: Zero-Shot Sim-to-Real Robotic Assistance for Retractor Take-Over in Open Surgery — arXiv:2610.38234},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.38234},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_248994f9155c; sha256 dfd5a1369842139e0c01ca87f0215cba0887113bd2742d2af3e0ae684fca7bcc},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.38234. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

We demonstrate the first zero-shot sim-to-real transfer for a surgeon-robot collaboration task in open surgery: retractor take-over. A robot arm takes a retractor from the surgeon's hand and preserves retraction at handoff, using a policy trained only on simulated demonstrations, without human demonstrations or real-world fine-tuning. Imitation learning from real demonstrations is limited by collection and labeling costs, and by performance degradation when the environment changes. Our framework, SimRetract, generates simulated demonstrations designed for transfer: the policy observes masked instrument images and grasp geometry, learns to recover from off-nominal states, and acts with margin for execution drift. Deployed zero-shot, it grasps the retractor in 90% of 50 surgeon-defined phantom presentations and preserves retraction at handoff in 78%. Results on unseen retractors suggest potential for generalization to instruments with similar grasp geometry. Across ten policy configurations and 1,200 simulated and real trials, we localize the sim-to-real gap to components: in simulation, grasp rates across ablations span 80-96%, while on the real robot removing the instrument mask alone drops performance to 22% grasped and 12% held. Transfer-oriented design thus makes zero-shot sim-to-real transfer feasible for a surgical assistance task without human demonstrations. Code is available here: this https URL .

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2610.38234 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-01T02:16:58.622Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).