The Vascular Interventional Surgery Doctor’s Training System Based On Tactile Telepresence

At present,the disease of head blood-vessel has become a common disease that seriously threatens life and healthy of human.However,interventional surgery costs long time,it affects the safety of operation.In this way,for traditionally minimal invasive surgery,the doctor must have rich experience to accurately operate the catheter in order to ensure the safety of the operation.Vascular interventional surgery doctor training system,applying for virtual reality(VR)technology,is a typical application in medical domain,which could effectively solve these problems.In order to improve the doctors’ surgery technique,we proposed a vascular interventional surgery raining system based on tactile telepresence for doctors.For problems that technology of 2d images produce imprecise pictures during the process of operation,this paper preposes a virtual reality environment,allowing doctors to observe the movement of the catheter in the process of operation intuitively,so that doctors can make full use of traditional techniques and methods through experience during the operation.In allution to the inertia of movement when doctors operate catheter and delay of surgery,force feedback model is established and a force feedback glove(CyberGlove)is used at the same time to realize the force feedback.The parper verify the tracing property of catheter in vascular interventional surgery training system through the catheter model following experiments.The experiments show that when the catheter is moving at axial displacement operation,the maximum error is 1 mm,average error is controlled in 0.4 mm,we can see error value is relatively smaller.When the catheter is moving at radial rotation operation,the maximum error of the Angle of rotation is1 degree,average error is controlled under 0.5 degree,which can meet the requirements of the doctor training system.We carried on the force feedback experiment in end of this paper,the results of experiment proved that the system could realistically simulate the doctor surgery training process,when the catheter blood vessel collided model,CyberGlove immediately vibrated,and when the blood vessels form variables to 0.5 mm,the largest feedback force is 0.619 N.