GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator

Huxin Gao1; Zedong Zhang1; Changsheng Li2; Xiao Xiao3; Liang Qiu4; Xiaoxiao Yang5; Ruoyi Hao6; Xiuli Zuo5; Yanqing Li5; Hongliang Ren1

10.1109/IROS47612.2022.9982138

2022

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-7928-8

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

9542-9549

23-27 Oct. 2022

Kyoto, Japan

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

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 Gastrointestinal 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.

Robotic simulation Robotic simulator NOTES Gastrointestinal endoscopic surgical robot Autonomy Visual servoing Reinforcement learning

其他

英语

CPCI-S

National Key R&D Program of China from the Ministry of Science and Technology (MOST) of China["2018YFB1307700","2018YFB1307703"] ; Hong Kong Research Grants Council (RGC) Collaborative Research Fund[C4063-18G:2300056] ; Shun Hing Institute of Advanced Engineering at the Chinese University of Hong Kong (CUHK)["BME-p1-21","8115064"] ; Hong Kong Research Grants Council (RGC-GRF) project[14211420] ; Funding Scheme for Virtual Teaching and Learning[3212141]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000909405302009

IEEE

1.NUS (Suzhou) Research Institute, Suzhou, China
2.School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China
3.Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China
4.Institute for Infocomm Research, Agency for Science, Technology and Research, Singapore
5.Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China
6.Department of Electronic Engineering, The Chinese University of Hong Kong, Hongkong, China

Huxin Gao,Zedong Zhang,Changsheng Li,et al. GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:9542-9549.