Simulation in virtual reality: Robotic training and surgical applications

Abstract

Two case studies are performed in this study; one with 4-dof robotic system, the other 6-dof industrial robot arm . Both robot arms are actually operated in Mechatronics Laboratory, Gaziantep University. Different motion trajectories are designed, and implemented for training, medical tasks and surgical operations base. Simulations are built by using VR Toolbox in Matlab. Virtual reality environment is achieved through Simulink with real time examples . The motions and trajectories necessary for training and surgical applications are directly seen. This enables the surgeons training with many benefits; greater control during tasks reduced training periods, possibility of error free tasks for example.