simulation in virtual reality: robotic training and surgical applications

Two case studies are considered in this study: one with a 4-dof robotic system and the other with a 6-dof industrial robot arm. both robot arms have been actually operational in mechatronics laboratory, gaziantep university. different motion trajectories were designed and implemented for training, medical tasks, and surgical operations base. simulations were carried out by using vr toolbox in matlab®. virtual reality environment was developed through simulink with real-time examples. the motions and trajectories necessary for training and surgical applications were directly observed, enabling the training of surgeons with many benefits such as reduction of the training time period through greater control during tasks and the possibility of error-free tasks.