Efficient Physically-based Simulation of Soft Bodies in Embodied Environment for Surgical Robot

Understand

Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning.

• Much effort have been made by scholars on developing open-sourced surgical robot simulators to facilitate research.
• We also developed SurRoL formerly, an open-source, da Vinci Research Kit (dVRK) compatible and interactive embodied environment for robot learning.
• Despite its advancements, the simulation of soft bodies still remained a major challenge within the open-source platforms available for surgical robotics.