Design and Development of a Da Vinci Surgical System Simulator

Computer-based simulators offer users the opportunity to learn and practice surgical skills through repeated exercises within safe and realistic learning environments. This paper reports the development of a da Vinci Surgical System simulator, including the creation of a geometrical and kinematic model of the da Vinci system. The SensAble Phantom 3D interface has been improved with a new electromechanical gripper device to control both arms and instruments in a 3D virtual environment. A gripper has been developed to replace the standard stylus to clone positions, orientations and opening movements, with a design inspired by the handles of the da Vinci surgeon console. A simulation kernel has also been developed to ensure that motions are performed by inverse kinematics. The simulation of kinematic constraints, motions, and collisions will provide realistic training, which is essential for inexperienced users.