CRESSim is another surgical simulator for the da Vinci Research Kit (dVRK) that enables simulating various contact-rich surgical tasks involving different surgical instruments, soft tissue, and body fluids. The real-world dVRK console and the master tool manipulator (MTM) robots are incorporated into the system to allow for teleoperation through virtual reality (VR).
Clone the repository. In the same directory, place the PhysX 5 for Unity package. Also, obtain the Free Double Sided Shaders asset for your Unity account.
Open the project in Unity. Import the Free Double Sided Shaders assets from Package Manager.
If you find this project helpful for your research, please consider citing the following two papers, which form the foundation of this repository.
@article{ou2024learning,
title={Learning autonomous surgical irrigation and suction with the Da Vinci Research Kit using reinforcement learning},
author={Ou, Yafei and Tavakoli, Mahdi},
journal={arXiv preprint arXiv:2411.14622},
year={2024}
}
@inproceedings{ou2024realistic,
title={A Realistic Surgical Simulator for Non-Rigid and Contact-Rich Manipulation in Surgeries with the da Vinci Research Kit},
author={Ou, Yafei and Zargarzadeh, Sadra and Sedighi, Paniz and Tavakoli, Mahdi},
booktitle={2024 21st International Conference on Ubiquitous Robots (UR)},
year={2024},
pages={64-70}
}