TY - JOUR ID - 21617 TI - Simulation in virtual reality: Robotic training and surgical applications JO - Scientia Iranica JA - SCI LA - en SN - 1026-3098 AU - Almusawi, A.J.R. AU - Dulger, L.C. AU - Kapucu, S. AD - Department of Mechatronics Engineering, University of Baghdad, Iraq AD - Department of Mechanical Engineering, Faculty of Engineering, Gaziantep University, Gaziantep, Turkey Y1 - 2019 PY - 2019 VL - 26 IS - 6 SP - 3369 EP - 3374 KW - robotic surgery (RS) KW - robotic training (RT) KW - virtual reality (VR) KW - Virtual Reality Model (VRM) KW - Thoracoscopic surgery DO - 10.24200/sci.2019.50451.1702 N2 - 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. UR - https://scientiairanica.sharif.edu/article_21617.html L1 - https://scientiairanica.sharif.edu/article_21617_15cbbed30db017be890e407c53724852.pdf ER -