A Hardware-in-the-loop Simulator for Safety Training in Robotic Surgery
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2016）
Key words
simulation-based safety training simulator,robot assisted surgery,surgical procedure,hardware-in-the-loop robotic surgery simulator,robot motion fidelity,Raven-II open source surgical robot,surgeon console,safety hazard injection engine,fault injection,robot control software,Vinci robot,FDA MAUDE database,haptic feedback strategy,robot state,robot dynamics
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