| Title: | OS17-4 Alvus Modeling in Gazebo |
|---|---|
| Publication: | ICAROB2022 |
| Volume: | 27 |
| Pages: | 686-690 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2022.OS17-4 |
| Author(s): | Liaisan Safarova, Bulat Abbyasov, Tatyana Tsoy, Hongbing Li, Evgeni Magid |
| Publication Date: | January 20, 2022 |
| Keywords: | 3D Modeling, Blender, Medical Robotics, Gazebo |
| Abstract: | Insufficient testing of medical robots can lead to accidents during a surgery and damage an expensive equipment. A simulated 3D patient permits a preliminary checking of robotics-based medical scenarios without threatening a real patient's health. This article presents a 3D model of a human abdomen, which contains vital organs: intestine, liver, stomach, and kidneys. There are 3 layers of an abdominal wall: skin, adipose, and muscle. Blender modeling software was used to create realistic 3D models of organs with their distinctive features for Gazebo simulator. The model is presented as a ROS package with necessary configuration files and can be used by other researchers to simulate medical operations in Gazebo environment. |
| PDF File: | https://alife-robotics.co.jp/members2022/icarob/data/html/data/OS/OS17/OS17-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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