Design And Research Of The Haptic Device For The Virtual Brain Surgery

Haptic device is a true representation of brain surgery virtual surgery simulation of key equipment. We studied in our previous haptic device, based on its mechanism and control circuitry box has been improved and optimized, designed and manufactured an improved haptic devices and control circuit box.First of all, we discuss the overall design concept and design process in various parts of the new equipment. The establishment of a new three-dimensional model of a haptic devices comply with the requirements of brain surgery.Secondly, the kinematics study of the new haptic devices kinematic analysis, the link coordinate system equipment based on D-H parameter method to obtain the homogeneous transformation matrix between adjacent rods and each of the links and joints pose of the end effector between. We calculated the haptic device kinematics characteristic equation, on the basis of haptic devices for inverse kinematics calculations.Furthermore,by using ADAMS software in simulation analysis for the new haptic device virtual prototype. Including forward kinematics simulation and inverse kinematics simulation to verify the haptic device virtual prototype is correct.Finally, the haptic device raw material selection, describes the main parts of the process. Selection the rope winding and describes the tightening mode. Describes the control box module, virtual surgery and in the laboratory experiment to test the practicality of the device.