Research And Implementation Of The Virtual Surgery Hardware Platform Based On Force Feedback Technology

In recent years, medical accidents increase frequently, doctor-patient conflicts become more and more serious. What的实际需求,为了most of these medical accidents are caused by surgeon, doctor-pa. Nowadays we have paid more and more attention to surgeonctor-patient confl, while the traditional training has many limits to meet our demand. The development of virtual reality technology is expected to resolve deficiencies of the traditional surgical approaches, bringing the progress of revolutionary in technology. Virtual surgery system based on force feedback allows operators to be more interactive, at the same time it is a exploration to the character of touch of the virtual reality technology. Therefore, this thesis researched on the hardware platform of the virtual surgery system based on force feedback.According to the technical route from theory to application and from design to implementation, following the overall framework of the virtual surgery system, this thesis researched on the virtual hepatic, multi-degree of freedom force feedback manipulator and the corresponding control system. Moreover, combined with experience of design, processing and assembly debugging process of two degrees of freedom force feedback experimental platform and six degrees of freedom force feedback of virtual surgical hardware platform, this thesis conduct in-depth study on the key technologies of force feedback hardware platform.This thesis study from the force feedback manipulator design and analysis of simulation, machine sensing and control design, the PC communications, and virtual surgery environment software platform four directions to explore the virtual surgery based on building force feedback hardware platform. Furthermore, this thesis pay more attention to the design and control system of the power feedback mechanical arm. The mechanical arm design combined with the actual needs of the virtual hepatic and virtual surgery, has developed a two degrees of freedom experimental platform to test to verify the virtual hepatic. Furthermore, combined with the actual needs of the virtual surgery, this thesis developed a six degree of freedom force feedback virtual surgery platform, and then, analyzed kinematics and dynamics of six degrees of freedom force feedback manipulator, developed the control system assorted finally...