{"ID":2868606,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.15600","arxiv_id":"2509.15600","title":"ORB: Operating Room Bot, Automating Operating Room Logistics through Mobile Manipulation","abstract":"Efficiently delivering items to an ongoing surgery in a hospital operating room can be a matter of life or death. In modern hospital settings, delivery robots have successfully transported bulk items between rooms and floors. However, automating item-level operating room logistics presents unique challenges in perception, efficiency, and maintaining sterility. We propose the Operating Room Bot (ORB), a robot framework to automate logistics tasks in hospital operating rooms (OR). ORB leverages a robust, hierarchical behavior tree (BT) architecture to integrate diverse functionalities of object recognition, scene interpretation, and GPU-accelerated motion planning. The contributions of this paper include: (1) a modular software architecture facilitating robust mobile manipulation through behavior trees; (2) a novel real-time object recognition pipeline integrating YOLOv7, Segment Anything Model 2 (SAM2), and Grounded DINO; (3) the adaptation of the cuRobo parallelized trajectory optimization framework to real-time, collision-free mobile manipulation; and (4) empirical validation demonstrating an 80% success rate in OR supply retrieval and a 96% success rate in restocking operations. These contributions establish ORB as a reliable and adaptable system for autonomous OR logistics.","short_abstract":"Efficiently delivering items to an ongoing surgery in a hospital operating room can be a matter of life or death. In modern hospital settings, delivery robots have successfully transported bulk items between rooms and floors. However, automating item-level operating room logistics presents unique challenges in percepti...","url_abs":"https://arxiv.org/abs/2509.15600","url_pdf":"https://arxiv.org/pdf/2509.15600v1","authors":"[\"Jinkai Qiu\",\"Yungjun Kim\",\"Gaurav Sethia\",\"Tanmay Agarwal\",\"Siddharth Ghodasara\",\"Zackory Erickson\",\"Jeffrey Ichnowski\"]","published":"2025-09-19T05:01:51Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}