Sajjad Hussain

Using a Surgical Physics Simulator as the Predictive Model in Model Predictive Path Integral Control for Soft-Tissue Manipulation

Tissue manipulation is a fundamental and frequently performed sub-task in robotic surgery, but its automation remains challenging because soft tissue exhibits nonlinear deformation and complex contact interactions with rigid instruments. This work presents a simulator-in-the-loop, samplingbased MPC framework that uses...