A V-REP Simulator for the da Vinci Research Kit Robotic Platform

In this work we present a V-REP simulator for the da Vinci Research Kit (dVRK). The simulator contains a full robot kinematic model and integrated sensors. A robot operating system (ROS) interface has been created for easy use and development of common software components. Moreover, several scenes have been implemented to illustrate the performance and potentiality of the developed simulator. Both the simulator and the example scenes are available to the community as an open source software.

[1]  Bruno Siciliano,et al.  Modelling and identification of the da Vinci Research Kit robotic arms , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[2]  Christian Duriez,et al.  SOFA: A Multi-Model Framework for Interactive Physical Simulation , 2012 .

[3]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[4]  A. Cuschieri,et al.  A Systematic Review of Virtual Reality Simulators for Robot-assisted Surgery. , 2016, European urology.

[5]  Seth Hutchinson,et al.  Visual Servo Control Part I: Basic Approaches , 2006 .

[6]  Peter Kazanzides,et al.  Software Architecture of the Da Vinci Research Kit , 2017, 2017 First IEEE International Conference on Robotic Computing (IRC).

[7]  Darwin G. Caldwell,et al.  Enhancing bilateral teleoperation using camera-based online virtual fixtures generation , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[8]  John Kenneth Salisbury,et al.  The Intuitive/sup TM/ telesurgery system: overview and application , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[9]  Mark E Rentschler,et al.  Towards autonomous motion control in minimally invasive robotic surgery , 2016, Expert review of medical devices.

[10]  Bruno Siciliano,et al.  A New Laparoscopic Tool With In-Hand Rolling Capabilities for Needle Reorientation , 2018, IEEE Robotics and Automation Letters.

[11]  Kenneth Y. Goldberg,et al.  Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[12]  Bruno Siciliano,et al.  Implementation of a soft-rigid collision detection algorithm in an open-source engine for surgical realistic simulation , 2016, 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[13]  Éric Marchand,et al.  ViSP for visual servoing: a generic software platform with a wide class of robot control skills , 2005, IEEE Robotics & Automation Magazine.

[14]  Manuela Perez,et al.  Comparative analysis of the functionality of simulators of the da Vinci surgical robot , 2015, Surgical Endoscopy.

[15]  Peter Kazanzides,et al.  An open-source research kit for the da Vinci® Surgical System , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[16]  Bruno Siciliano,et al.  A novel force sensing integrated into the trocar for minimally invasive robotic surgery , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[17]  François Chaumette,et al.  Visual servo control. I. Basic approaches , 2006, IEEE Robotics & Automation Magazine.

[18]  Thenkurussi Kesavadas,et al.  RoSS: Virtual Reality Robotic Surgical Simulator for the da Vinci Surgical System , 2008, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[19]  Bruno Siciliano,et al.  Passive Virtual Fixtures Adaptation in Minimally Invasive Robotic Surgery , 2018, IEEE Robotics and Automation Letters.