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Neural-Augmented Kelvinlet: Real-Time Soft Tissue Deformation with Multiple Graspers
Ashkan Shahbazi, Kyvia Pereira, Jon S. Heiselman, Elaheh Akbari, Annie C. Benson, Sepehr Seifi, Xinyuan Liu, Garrison L. Johnston, Erwin Terpstra, Anne Draaisma, Jan-Jaap Severes, Jie Ying Wu, Nabil Simaan, Michael L. Miga, Soheil Kolouri
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Neural-Augmented Kelvinlet: Real-Time Soft Tissue Deformation with Multiple Graspers
Fast and accurate simulation of soft tissue deformation is a critical factor for surgical robotics and medical training. In this paper, we introduce a novel physics-informed neural simulator that approximates soft tissue deformations in a realistic and real-time manner. Our framework integrates Kelvinlet-based priors into neural simulators, making it the first approach to leverage Kelvinlets for residual learning and regularization in data-driven soft tissue modeling. By incorporating large-sca…