Key Technique Research Of Virtual Surgery Force Feedback Device

This article through the virtual reality technology in the medical field ofapplied research,draw on the research results of the virtual surgery system athome and abroad,analysis of structure and defects of the existing virtualsurgery system. The haptic system and control system for the previousdeficiencies in the innovative design and improvement.This paper interaction system design main force sleep in order to improvethe operation of the power system virtual sleep perception,and to achieve avariety of simulation of surgical instruments. Surgical instruments to beclassified according to the degrees of freedom,with the same degree of freedomof the number of surgical instruments are unified design,and on differentdevices similar degree of freedom to achieve consistent design,realize forceinteractive system of the modular design awareness. For translational degrees offreedom with different rolling degrees of freedom,put forward respectively withthe transmission and the design scheme of gear transmission. And reasonableselection of drive components and design elements, to force the device’sinteractive kinematics and the statics analysis. Finally Admas haptic devicemodeling and simulation,verify the rationality of the device design.The design accuracy of the control system determines the virtual surgerysystem, the feedback force to achieve accuracy. In this paper,the feedback forceof the real surgical precision requirements,adopting PLC as thecontrol elementsrealize the drive force feedback. According to the theory of PID control andfuzzy control theory,research in PID closed-loop control system of the controlparameters selection,ensure the accuracy requirements to complete the surgeryfeedback force. The control flow of the control system are described,carried outthe design of the control program. Modeling and simulation of the PID control model for virtual surgery system by Matlab,compare with the output speedcurve of the other two sets of control parameters,prove reasonable controlparameters selected in this study,virtual surgery can satisfy the requirement ofaccuracy of force feedback.Conducted a joint simulation of mechanical systems and control systems,the simulation results obtained with the theoretical value, and contrastthetheoretical value has a good track features, In this paper, the design ofmechanical systems and control system is feasible.