A 2D Surgical Simulation Framework for Tool-Tissue Interaction

A 2D Surgical Simulation Framework for Tool-Tissue Interaction

The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with robot manipulators is necessary. In this work, we propose a...

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Bibliographic Details
Main Authors: Han, Yunhai, Liu, Fei, Yip, Michael C
Format: Journal Article
Language:English
Published: 26-10-2020
Subjects:
Computer Science - Robotics
Online Access:Get full text
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Summary:The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with robot manipulators is necessary. In this work, we propose a novel 2D simulation framework for tool-tissue interaction. This framework continuously tracks the motion of manipulator and simulates the tissue deformation in presence of collision detection. The deformation energy can be computed for the control and planning task.
DOI:10.48550/arxiv.2010.13936