A 2D Surgical Simulation Framework for Tool-Tissue Interaction
This work addresses the problem of unpredictable tissue deformations in robotic surgery, though it appears incremental as it builds on existing simulation concepts in a 2D context.
The authors tackled the challenge of simulating soft tissue deformation for robotic surgical systems by proposing a 2D simulation framework that tracks manipulator motion and computes deformation energy for control and planning tasks.
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.