This master project aims to develop a digital twin of an endoscopic robot system developed by the collaborator at The University of Sheffield. This robot is for the so-called Endoscopic Submucosal Dissection, an advanced procedure to remove cancer tumors in the gastrointestinal tract. Such a digital twin will be used to evaluate and aid the design of the robot and can also be used for training of operators in the future.
Objectives:
- To build the digital twins of the robotic arms of the robot with the consideration of the kinematics of the robotic arms and the mappings between the robotic arms and the human-robot interface. The digital twins should allow the change of key design variables of the robotic system to aid iterative design.
- To build the digital twin of the colon, simulating the process of Endoscopic Submucosal Dissection process. In this process, a piece of colon tissue is grasped and lifted by an endoscopic forceps and cut by the robotic arm with an electrosurgical knife.
- To simulate the force and motion interactions between the robotic arms and the colon.
- To work closely with the team from The University of Sheffield to verify the digital twins and to promote the iterative design and evaluation of the robotic system using the simulator.
