The Research Of Force Feedback Mechanism Based On Virtual Surgerty

Virtual surgery is one of the most important applications of virtual reality(VR)technology in the medicine field,and has become a focus in recent years. With the virtual surgery technology, the doctors can be trained how to operate using simulating instruments under the virtual environment, Virtual surgery system can record and replay the skilled doctors'operation which saves the charge and time of the medical training and quickly improves the learner's skill.Haptic interaction has an important role in the virtual surgery system. With the force feedback technology, the doctors can manipulate the haptic device to feel the haptic interaction, which make the training more reality, precise and reliable and further buildup the immersion and facility.This paper first introduce the basic control principle and robot's kinematical analysis; then the control project is presented, according to which the device's kinematics and dynamics is analyzed, the device's gravity and grating is compensated; thirdly, introducing the system's software design and connecting the virtual reality platform WTK with motors'driving control program. Lastly, the experiment validates the mechanism of force feedback, and the device'stability and driving performance is optimized according the experiment results.