| Title | GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator |
| Author | |
| DOI | |
| Publication Years | 2022
|
| Conference Name | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
|
| ISSN | 2153-0858
|
| ISBN | 978-1-6654-7928-8
|
| Source Title | |
| Pages | 9542-9549
|
| Conference Date | 23-27 Oct. 2022
|
| Conference Place | Kyoto, Japan
|
| Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
|
| Publisher | |
| 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 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. |
| Keywords | |
| SUSTech Authorship | Others
|
| Language | English
|
| URL | [Source Record] |
| Indexed By | |
| Funding Project | 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]
|
| WOS Research Area | Automation & Control Systems
; Computer Science
; Engineering
; Robotics
|
| WOS Subject | Automation & Control Systems
; Computer Science, Artificial Intelligence
; Engineering, Electrical & Electronic
; Robotics
|
| WOS Accession No | WOS:000909405302009
|
| Data Source | IEEE
|
| PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9982138 |
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Conference paper |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/420616 |
| Department | Department of Electrical and Electronic Engineering |
| Affiliation | 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 |
| Recommended Citation GB/T 7714 |
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.
|
| Files in This Item: | There are no files associated with this item. | |||||
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment