Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning

arXiv:2607.27494v1 Announce Type: new Abstract: Recent advances in robotics research have created a strong demand for high-performance simulators. Surgical robotics simulation faces unique challenges due to the need to model diverse objects, such as rigid instruments, soft tissue, and fluids. While many studies simulate sutures or soft tissue independently, only a few have considered the complete soft-tissue suturing scenario, including the contact between sutures and deformable tissue during su...