Hello brother, 

581 is a decent score Naman. Congratulations for that first of all. Yes as per the last year's cutoff i'll guide you a bit. You can try in Rabindranath Tagore college Udaipur which is expected to have cutoff of 579 this year. Last year it had 567 cutoff but this year as you would be knowing the cutoff was expected to rise since the number of candidates had increased and also the paper level was quite easy comparatively. You can also try in medical colleges of Jodhpur, Ajmer, Bharatpur, Dangarpur and Kota as their cutoff is expected to be less than 581. Sawai Man Singh medical college looks out of your approach as it's cutoff will be 600+.

Best wishes to you brother. 

Thank you.