论文标题
用于工具组织相互作用的2D手术模拟框架
A 2D Surgical Simulation Framework for Tool-Tissue Interaction
论文作者
论文摘要
机器人手术系统的控制和任务自动化非常具有挑战性，尤其是在软组织操作中，由于不可预测的变形。因此，必须精确的软组织模拟器与机器人操纵器相互作用的能力。在这项工作中，我们为工具组织相互作用提出了一个新颖的2D模拟框架。该框架连续跟踪操纵器的运动，并在存在碰撞检测的情况下模拟组织变形。可以针对控制和计划任务计算变形能。
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.
