A Unity-based Da Vinci Robot Simulator for Surgical Training

被引：0

作者：

Fan, Ke ^{[1
]}

Marzullo, Aldo ^{[2
]}

Pasini, Nicolo ^{[1
]}

Rota, Alberto ^{[1
]}

Pecorella, Matteo ^{[1
]}

Ferrigno, Giancarlo ^{[1
]}

De Momi, Elena ^{[1
]}

机构：

[1] Politecn Milan, Dept Elect Informat & Bioengn, Milan, Italy

[2] Univ Calabria, Dept Math & Comp Sci, Arcavacata Di Rende, Italy

来源：

2022 9TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2022) | 2022年

关键词：

VIRTUAL FIXTURES;

D O I：

10.1109/BIOROB52689.2022.9925319

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

The development of the Robot-Assisted Minimally Invasive Surgery (RAMIS) imposes an increasing demand for surgical training platforms, especially low-cost simulation-based surgical training through the creation of new open-source modules. For this goal, a da Vinci Surgical robot simulator based on Unity Physics Engine is developed. The simulator is integrated with da Vinci Research Kit (dVRK), robot kinematic models and multiple sensors. The Robot Operating System (ROS) interface is embedded for better integration with ROS based software components. The simulator can provide interactive information such as haptic feedback with master input devices. An application of a virtual fixture is implemented to test and verify the performance of the simulator. The results show that the simulator has high expansibility and support interactive training tasks well.

引用

页数：6

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