Research On Virtual Reality Robotic Laparoscopic Microsurgery With Force Feedback

The laparoscopic robotic virtual surgery is an application of virtual reality technology in modern medical. The laparoscopic robotic virtual surgery system can not only provide training platform of laparoscopic surgery for the doctors, but also assist surgical treatment. It greatly facilitates the popularization and application of laparoscopic surgery. In the laparoscopic robotic virtual surgery system vision and touch feedback are two important ways of interactions between the user and system. The lifelike real-time vision and touch feedback can enhance the veracity and immersed sense system. Based on the laparoscopic microsurgical robot, this article makes a study on virtual surgery with force feedback.Firstly, based on contrasting the modeling method, this article establishes major geometric model of virtual surgery using manual modeling method and sets up the local coordinate of geometric model and related parameters. The information of texture, veins and coordinate is saved as .3DS data. According to the geometrical model, sense cruise of virtual surgery is realized in Microsoft Visual studio 2008.Secondly, the laparoscopic microsurgical robot kinematics is analyzed. The robotic coordinates in virtual space are established. And then the pos of every part in virtual coordinates are computed and the simulation program of laparoscopic robotic is compiled. Gaining input information from virtual environment according to Omega.3 virtual touch device, virtual environment obtains position of virtual slave hand real time, makes kinematics calculation and refreshes every frame of images in the window. The operator observes uninterrupted images of robotic kinematics simulation. The human-computer interaction that master hand controls virtual robot is finished according to Omega.3.In aspect of soft tissue deformation, the physical model of soft tissue is established based on its biomechanics characteristic. The modeling method is called mass-spring models. And then the collision detection arithmetic between instrument and soft tissue is ascertained. In aspect of force feedback, force feedback arithmetic is analyzed according to the mass-spring model of soft tissue. Then the value and direction of the real-time force feedback between instrument and soft tissue is gained. Afterwards using CHAI 3D kit, the program of soft tissue deformation and force feedback is complied. The human-computer interaction with virtual surgery is finished according to Omega.3.In the end, this article expounds laparoscopic robotic virtual surgery about development environment, control interface and manipulation mode. Aiming at every manipulation mode, the human-computer interaction experiment of laparoscopic robotic virtual surgery kinematics simulation and soft tissue deformation is finished. Finally, this article describes the design of force feedback experiment which tests force feedback with soft tissue deformation. The results of the experiments prove the real time and accuracy in the laparoscopic robotic virtual surgery.