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Tesi etd-11042020-183458


Tipo di tesi
Tesi di laurea magistrale
Autore
GEBREHAWARIAT, HENOK HABTE
Indirizzo email
h.gebrehawariat@studenti.unipi.it, sp.heni32@gmail.com
URN
etd-11042020-183458
Titolo
Interfacing the da Vinci Research Kit with the Unity simulation environment for virtual and augmented reality applications in surgical robotics training
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
BIONICS ENGINEERING
Relatori
relatore Prof. Menciassi, Arianna
tutor Mariani, Andrea
Parole chiave
  • Rosbrige
  • Ros
  • Robotic Surgery
  • Menciassi
  • Mariani
  • dVRK
  • Arianna
  • Andrea
  • unity 3d
Data inizio appello
04/12/2020
Consultabilità
Completa
Riassunto
Simulation in all forms is an important part of the learning experience for surgical technology. By providing a controlled re-creation of critical steps in instrument control, simulation allows surgeons to practice their skills in a non-clinical environment. Considering the interface between da Vinci Research Kit (dVRK) with the Robot Operating System (ROS), we use a link called ROSBrige to communicate Unity3D and ROS environment, providing Unified Robot Description Format (URDF) files for visualization, and offering kinematic as well as dynamic simulation. We also present some medical and non- medical use cases.
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