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A 2D Surgical Simulation Framework for Tool-Tissue Interaction

2020-10-26 22:47:32
Yunhai Han, Fei Liu, Michael C. Yip
arXiv_RO
       
Abstract

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.

Abstract (translated)

URL

https://arxiv.org/abs/2010.13936

PDF

https://arxiv.org/pdf/2010.13936.pdf

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