sim2real.world · gap index · arXiv:2610.38234
SimRetract: Zero-Shot Sim-to-Real Robotic Assistance for Retractor Take-Over in Open Surgery
- task
- retractor take-over in open surgery
- hardware
- Trossen WidowX AI arm
- simulator
- Isaac Sim
- transfer
- zero-shot
- sim result
- 94%
- real result
- 90%
Simulation overstated success by 4.0 percentage points.
What the paper says
The same checkpoint grasps 94 % of held-out simulated presentations, with a post-release tip offset of 8.0 ± \pm 6.0 mm and axial twist of 3.8 ± \pm 6.4 ∘ over grasped trials.
Deployed zero-shot, it grasps the retractor in 90 % of 50 surgeon-defined phantom presentations and preserves retraction at handoff in 78 %.
What it does not report
- real post-release instrument tip offset
- real axial twist
- real-world instrument segmentation/plane-estimation error
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