A 2D Surgical Simulation Framework for Tool-Tissue Interaction

TL;DR

This paper introduces a 2D simulation framework for robotic surgical tool-tissue interaction, enabling accurate modeling of tissue deformation and collision detection to aid control and planning in soft tissue manipulation.

Contribution

A novel 2D simulation framework that models tool-tissue interactions with continuous motion tracking and deformation energy computation for surgical robotics.

Findings

Effective simulation of tissue deformation during tool interaction

Real-time collision detection capabilities

Potential to improve surgical robot control and planning

Abstract

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.