Enhancing Surgical Training Through Immersive Simulation and Visualization of the da Vinci Research Kit (dVRK) Surgical System Using ROS 2 and Rviz

In the modern era, robotic engineering has transformed education, training, and skill development, particularly in the field of surgery. Simulation training offers a safe and controlled environment for surgeons to learn, practice and visualize surgical techniques before performing procedures on patients. The simulation and visualization of the da Vinci Research Kit (dVRK), a platform for creating and evaluating surgical methods, algorithms, and technologies, are the main focus of this research, visualizing the interaction between a dVRK surgical system and a virtual human body using the Rviz simulator and Robot Operating System (ROS). These models are imported as meshes of stereo-lithography format (.STL), defined using xacro. The study explores the role of visualization in enhancing surgical education and training, highlighting it potential to improve procedural competency and patient outcomes. This research contributes to the advancement of surgical education through visualization by providing a realistic and immersive environment for surgical simulation training.