The Research And Development Of Virtual Surgery Device With Force Feedback

Virtual surgery is one of the most important applications of virtual reality technology in the medicine field. The Man-machine Haptic Interaction Technology plays a key role in Virtual Surgery System (VSS). Virtual surgery instrument is an important component of VSS, by which Doctor can enter in the virtual environment, operate on the virtual organs, so as to plan new surgeries, do operations and training. With the force feedback, virtual surgery instrument makes the training more real and effective, that not only cuts down the expense and the time of training a qualified surgeon, but also reduces the chance of surgery venture.In this paper, the man-machine haptic interaction technology of VSS is presented in details including the working principle and realization method of virtual surgery instruments.A virual surgery instrument usually consists of two functional parts: mechnical structure and software. The former builds up the frame of virual surgery ststem; the latter is the"soul"of the whole system. In this paper, a method of mechanical design and control architecture are presented with PC-based high performance controller hardware. Some key points in haptic device design as the selection of motors and the control program with visual interface are also presented in details with the result of experiment.The basic idea of the design in this paper can also be used for the design of other virtual surgery devices. The research production of the paper sets the foundation for developing practical virtual surgery system in the future.