ProCut: Probabilistic Cutting Topology for Autonomous Electrosurgical Tissue Dissection

Abstract:Accurately modeling and tracking the deformation of soft tissue is critical for a wide range of interventional and surgical procedures. However, current methods struggle in scenarios involving topological changes, such as cutting and dissection, due to the inherent non-linearity and discontinuity introduced by explicit changes in connectivity. In this work, we present a novel, fully differentiable framework that enables robust estimation and modeling of topological changes during deformable tracking. Our method introduces a continuous, sigmoid-based formulation to smooth the otherwise discrete event of tissue cutting, making it amenable to gradient-based optimization within a differentiable Position-Based Dynamics (PBD) simulation. To account for uncertainty and improve robustness in the presence of noisy visual data, we incorporate Stein Variational Gradient Descent (SVGD) for particle-based probabilistic inference, generating multiple hypotheses for topological state estimation. Building on this foundation, we develop an autonomous dissection algorithm for thin-shell tissues that leverages topological updates to guide closed-loop cutting trajectory control. We evaluate our approach in both simulated and real-world electrosurgical environments, demonstrating significant improvements in topological estimation accuracy and dissection precision over existing methods. Our results highlight the potential of this framework to advance automation in soft-tissue surgical procedures by enabling reliable perception and control in the presence of complex structural changes.

Robotics (cs.RO)

arXiv:2610.07515 [cs.RO]

(or arXiv:2610.07515v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.07515 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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