This project contains the necessary files to run a MATLAB-based simulation of a KUKA LBR iiwa integrated with a surgical navigation camera. This project was developed by the BIROMED Lab to teach Medical Robotics (Department of Biomedical Engineering, University of Basel). To do so, the simulation provided in this repository is paired with additional software to deploy onto the physical hardware.
The Simulink models and MATLAB files are arranged so that students can implement their own solutions at different levels of the control pipeline. The proposed task is to use the information from the surgical navigation camera to compensate the physiological movements of the patient while performing a minimally-invasive intervention through a trocar.
To install and run the project, simply clone the repository and run the macroRobot_simulator.slx file. The existing version of the project was developed in MATLAB R2023b and the following packages are required:
- Simulink
- Simscape
- Simscape Multibody
- Control System Toolbox
- Signal Processing Toolbox
To use the code for personal use or for education, modifications in the macroRobot_simulator.slx model need to be performed in order to integrate the camera information into the robot control.
If desired, parts of the underlying MATLAB source code can be removed or edited for the students to complete. Similarly, additional objects can be added to the project using STEP files and the corresponding Simscape tools.
- Rubén Martín-Rodríguez ruben.martinrodriguez@unibas.ch
- Nicolas Gerig nicolas.gerig@unibas.ch
- Murali Karnam murali.karnam@unibas.ch