{"id":"https://openalex.org/W4411272480","doi":"https://doi.org/10.1109/ismr67322.2025.11025977","title":"Surgical Robotics Environment in NVIDIA Isaac Sim for Robot-Assisted Suturing","display_name":"Surgical Robotics Environment in NVIDIA Isaac Sim for Robot-Assisted Suturing","publication_year":2025,"publication_date":"2025-05-14","ids":{"openalex":"https://openalex.org/W4411272480","doi":"https://doi.org/10.1109/ismr67322.2025.11025977"},"language":"en","primary_location":{"id":"doi:10.1109/ismr67322.2025.11025977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr67322.2025.11025977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100670577","display_name":"Tae Wan Kim","orcid":"https://orcid.org/0000-0002-7887-1055"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tae Wan Kim","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000027588","display_name":"Haoying Zhou","orcid":"https://orcid.org/0000-0001-6976-4015"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haoying Zhou","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035161500","display_name":"Juan Antonio Barragan","orcid":"https://orcid.org/0000-0003-0855-4203"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Antonio Barragan","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053952899","display_name":"Hisashi Ishida","orcid":"https://orcid.org/0000-0002-3391-8403"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hisashi Ishida","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036968620","display_name":"Adnan Munawar","orcid":"https://orcid.org/0000-0002-3400-4558"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adnan Munawar","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100670577"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":0.6627,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69141462,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"192","last_page":"198"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7834835052490234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6866276264190674},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6190593242645264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5674680471420288},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.5268598794937134},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4263652265071869},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3741569519042969}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7834835052490234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6866276264190674},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6190593242645264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5674680471420288},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.5268598794937134},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4263652265071869},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3741569519042969}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr67322.2025.11025977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr67322.2025.11025977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2422535139","display_name":null,"funder_award_id":"OISE-1927354,OISE-1927275","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1570792896","https://openalex.org/W2036439337","https://openalex.org/W2061417916","https://openalex.org/W2167340365","https://openalex.org/W2798257756","https://openalex.org/W2992807597","https://openalex.org/W3004322459","https://openalex.org/W3112186687","https://openalex.org/W3115373916","https://openalex.org/W3133389372","https://openalex.org/W3150631816","https://openalex.org/W3155981689","https://openalex.org/W3196757288","https://openalex.org/W4210557383","https://openalex.org/W4284967147","https://openalex.org/W4310296680","https://openalex.org/W4313854706","https://openalex.org/W4321473287","https://openalex.org/W4367016688","https://openalex.org/W4394708859","https://openalex.org/W4398249914","https://openalex.org/W4399213366","https://openalex.org/W4399911279","https://openalex.org/W4400579737","https://openalex.org/W4401416907","https://openalex.org/W4411019249"],"related_works":["https://openalex.org/W2625686229","https://openalex.org/W1912506680","https://openalex.org/W2160974886","https://openalex.org/W2890489835","https://openalex.org/W3017278983","https://openalex.org/W2353621230","https://openalex.org/W2105149490","https://openalex.org/W2509081345","https://openalex.org/W2517923225","https://openalex.org/W2391238498"],"abstract_inverted_index":{"Virtual":[0],"simulations":[1],"have":[2,20],"served":[3],"as":[4],"important":[5],"tools":[6],"to":[7,23,52,96,134,162],"design":[8],"and":[9,25,71,92,143,154,170],"test":[10],"robotic":[11,81,85],"frameworks":[12],"in":[13,44,60],"a":[14,64,77,93,97,150,164],"variety":[15],"of":[16,35,113,147,167,172],"domains.":[17],"Increasingly,":[18],"they":[19],"been":[21],"used":[22],"train":[24],"experiment":[26],"on":[27,140],"surgical":[28,42,55,90,177],"robotics":[29],"applications.":[30,179],"Having":[31],"seen":[32],"the":[33,45,54,114,122,141,155,168],"success":[34],"an":[36,87],"open":[37],"simulation":[38,178],"environment":[39,57],"for":[40,80,176],"robot-assisted":[41],"suturing":[43,56,82],"Asynchronous":[46],"Multi-Body":[47],"Framework":[48],"(AMBF),":[49],"we":[50,160],"sought":[51],"reproduce":[53],"from":[58],"AMBF":[59],"NVIDIA":[61,173],"Isaac":[62,174],"Sim,":[63],"new":[65],"simulator":[66],"with":[67],"impressive":[68],"visual":[69],"fidelity":[70],"GPU-accelerated":[72],"computation":[73],"capabilities.":[74],"We":[75,127],"present":[76],"virtual":[78,115],"scene":[79,116],"comprising":[83],"two":[84,89],"manipulators,":[86],"endoscope,":[88],"phantoms,":[91],"needle":[94],"attached":[95],"thread.":[98],"The":[99],"thread":[100],"is":[101],"modeled":[102],"using":[103,121],"three":[104],"different":[105],"techniques.":[106],"This":[107],"work":[108],"also":[109],"provides":[110],"interactive":[111],"manipulation":[112],"via":[117],"haptic":[118,151],"input":[119,152],"devices":[120],"Robot":[123],"Operating":[124],"System":[125],"interface.":[126],"measured":[128],"performance":[129],"speeds,":[130],"ranging":[131],"between":[132,149],"13":[133],"60":[135],"frames":[136],"per":[137],"second":[138],"depending":[139],"task,":[142],"approximately":[144],"0.5":[145],"seconds":[146],"delay":[148],"device":[153],"simulator.":[156],"In":[157],"this":[158],"environment,":[159],"hope":[161],"provide":[163],"descriptive":[165],"overview":[166],"capabilities":[169],"limitations":[171],"Sim":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
