Development of Simulator for Robot Assisted Surgical Platform for Cholecystectomy Training The surgical robots have gained a great interest of researchers and their use has been rapidly expanding over the last decade or so. However, the presence of such systems in developing countries is still limited due to high costs and lack of research and development. Another reason for unavailability of these systems in developing countries is stringent surgeon training requirements. Therefore, simulations are designed and conducted under the umbrella of surgical robotics to ease the training for surgeons. This research is envisioned to pave a way for realization of a local resource(s) as well as serve as harbinger for further development in the area of robotic surgery. In this article, we have presented a simulator for robot assisted surgical platform for minimal invasive robotassisted surgery for leaning purpose. The results show highly efficient and reliable system, that is semiautonomous. This system can be extended to be used in realtime environment under trained supervision for remote surgical procedures.

An Asynchronous MultiBody Simulation Framework for RealTime Dynamics, Haptics and Learning with Application to Surgical Robots Surgical robots for laparoscopy consist of several patient side slave manipulators that are controlled via surgeon operated master telemanipulators. Commercial surgical robots do not perform any subtasks xe2x80x93 even of repetitive or noninvasive nature xe2x80x93 autonomously or provide intelligent assistance. While this is primarily due to safety and regulatory reasons, the state of such automation intelligence also lacks the reliability and robustness for use in highrisk applications. Recent developments in continuous control using Artificial Intelligence and Reinforcement Learning have prompted growing research interest in automating mundane subtasks. To build on this, we present an inspired Asynchronous Framework which incorporates realtime dynamic simulation xe2x80x93 manipulable with the masters of a surgical robot and various other input devices xe2x80x93 and interfaces with learning agents to train and potentially allow for the execution of shared subtasks. The scope of this framework is generic to cater to various surgical (as well as nonsurgical) training and control applications. This scope is demonstrated by examples of multiuser and multimanual applications which allow for realistic interactions by incorporating distributed control, shared task allocation and a welldefined communication pipeline for learning agents. These examples are discussed in conjunction with the design philosophy, specifications, systemarchitecture and metrics of the Asynchronous Framework and the accompanying Simulator. We show the stability of Simulator while achieving realtime dynamic simulation and interfacing with several haptic input devices and a training agent at the same time.