Research on Virtual Training System of Robot-assisted Surgery based on Unity3D

Aiming at the background of robot-assisted minimally invasive surgery, a virtual training system was built based on Unity3D platform for training surgeons to operate surgical robots. The training scene was optimized by texture mapping, lighting adjustment and rendering plug-in, and the UI interface of the system was designed. The mapping relationship between the force feedback device and the virtual surgical instrument was established to realize the control of the opening and closing, pitching, rotation and movement around the constrained position of the virtual surgical instrument. The classification idea of different virtual objects using different collision components was proposed, and the collision frame of surgical instruments was refined to realize the accurate simulation of colliding, clamping, moving, throwing, and hooking. The feedback force data showed the stability of the system during the simulation of different interactive training.