Virtual Reality Simulation of a Robotic Laparoscopic Surgical System

Alexios Karadimos, Anthony Tzes, Nikolaos Evangeliou, Evangelos Dermatas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1573-1579
Number of pages7
ISBN (Electronic)9781665496070
DOIs
StatePublished - 2022
Event8th International Conference on Control, Decision and Information Technologies, CoDIT 2022 - Istanbul, Turkey
Duration: May 17 2022May 20 2022

Publication series

Name2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022

Conference

Conference8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
Country/TerritoryTurkey
CityIstanbul
Period5/17/225/20/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems
  • Decision Sciences (miscellaneous)
  • Information Systems and Management
  • Control and Optimization

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