ETD

Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-11042020-183458

Tipo di tesi

Tesi di laurea magistrale

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

Parole chiave

Andrea
Arianna
dVRK
Mariani
Menciassi
Robotic Surgery
Ros
Rosbrige
unity 3d

Data inizio appello

04/12/2020

Consultabilità

Completa

Riassunto (Inglese)

Riassunto (Italiano)

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.

File

Nome file	Dimensione
Gebrehaw...hesis.pdf	17.99 Mb
henok_ha...ariat.pdf	18.04 Mb
Tesi_Msc_henok.pdf	88.90 Kb
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