GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator
Huxin Gao, Zedong Zhang, Changsheng Li, Xiao Xiao, Liang Qiu, Xiaoxiao Yang, Ruoyi Hao, Xiuli Zuo
Abstract
Robot-assisted gastrointestinal endoscopic surgery (GES) as a kind of natural orifice transluminal endoscopic surgery (NOTES) is the next-generation minimally invasive surgery (MIS). Besides, rendering certain autonomy to a Gas-trointestinal Endoscopic Surgical Robot (GESR) is promising but highly challenging. Therefore, to accelerate the development and augment the autonomy of GESR, we use CoppeliaSim to develop the first robotic simulator for the GESR system (GESRsim) based on our previous design. The GESRsim provides several 3D models and kinematics of our designed manipulators and endoscopic snake bone. Additionally, we build several scenes for robotic GES training and then utilize different programming interfaces to perform teleoperation. Furthermore, several advanced control algorithms, including visual servoing (VS) and deep reinforcement learning (DRL), are implemented to verify the performance of the GESRsim.
BibTeX
@inproceedings{iros2022_gesrsimgastroint,
title = {GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator},
author = {Huxin Gao and Zedong Zhang and Changsheng Li and Xiao Xiao and Liang Qiu and Xiaoxiao Yang and Ruoyi Hao and Xiuli Zuo and Yanqing Li and Hongliang Ren},
booktitle = {IROS 2022},
year = {2022}
}