TY - GEN
T1 - Virtual Reality Simulation of a Robotic Laparoscopic Surgical System
AU - Karadimos, Alexios
AU - Tzes, Anthony
AU - Evangeliou, Nikolaos
AU - Dermatas, Evangelos
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Virtual reality simulation of robotic-assisted min-imal invasive procedures reveals interesting issues related to the perception, control and manipulation of laparoscopic tools with emphasis given to the pivot trajectories and the Remote-Center-of-Motion (RCM) constrained motion planning. In this paper, the Gazebo simulator under Robot Operating System (ROS) allows the inclusion of hardware-in-the-loop for Minimally Invasive Surgery (MIS) procedures. The RCM constraint is addressed through the transformation of the surgical task space into the robot's taskspace, while addressing the robot's manipulability. Emphasis is given in calculating various geometric paths to be followed by the robot during surgery. Simulations were conducted using the ROS framework and the MoveIt kinematic planner using the RRTConnect path planning algorithm to evaluate the efficacy proposed scheme.
AB - Virtual reality simulation of robotic-assisted min-imal invasive procedures reveals interesting issues related to the perception, control and manipulation of laparoscopic tools with emphasis given to the pivot trajectories and the Remote-Center-of-Motion (RCM) constrained motion planning. In this paper, the Gazebo simulator under Robot Operating System (ROS) allows the inclusion of hardware-in-the-loop for Minimally Invasive Surgery (MIS) procedures. The RCM constraint is addressed through the transformation of the surgical task space into the robot's taskspace, while addressing the robot's manipulability. Emphasis is given in calculating various geometric paths to be followed by the robot during surgery. Simulations were conducted using the ROS framework and the MoveIt kinematic planner using the RRTConnect path planning algorithm to evaluate the efficacy proposed scheme.
UR - http://www.scopus.com/inward/record.url?scp=85134357692&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85134357692&partnerID=8YFLogxK
U2 - 10.1109/CoDIT55151.2022.9804076
DO - 10.1109/CoDIT55151.2022.9804076
M3 - Conference contribution
AN - SCOPUS:85134357692
T3 - 2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
SP - 1573
EP - 1579
BT - 2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
Y2 - 17 May 2022 through 20 May 2022
ER -