Design And Implementation Of Manipulator For Virtual Laparoscopic Surgery

Along with the fast development of laparoscopic surgery, people have morerequirements in the doctor’s surgery skills than before. Generally, operation skill comesfrom a lot of clinical practice. The virtual laparoscopic surgery system helps trainingdoctors’ basic surgical skills by constructing three-dimensional virtual scene, andsimulating the basic process of laparoscopic surgery. Different from traditional trainingmethods, virtual laparoscopic surgery system let the doctor practice without worryingabout specimens, surgical site and safety issues. The system spends less by reducing thetraining cycle, and can also help doctor to determine surgery plan and evaluate surgeryprocedure.In order to give realistic and immersion sense to the operator, virtual surgery systemwill choose the manipulator as the interface between human and computer. Domesticresearch institutions usually apply foreign equipment such as Phantom Desktop andPhantom Omini, rarely make their own manipulator. The present work investigates themanipulator for virtual laparoscopic surgery. The main work is as follows:(1) The manipulator is applied to replace the mouse and keyboard, the basic featuresand parameters of the manipulator are established.(2) According to robot forward kinematics equation, this work deduced position andattitude formula of our manipulator, and tested related parameters.(3) Achieve the serial communication on the unity platform: Try to receive serial datawith two methods, choose a regular query mechanism; Multi-thread and queue ensure thereceiver get the signals without missing when dealing with serial data. The processedmentioned above was verified by simulating.(4) This work completed the transform from attitude matrix to Euler angles,quaternion. The manipulator is applied to the virtual laparoscopic surgery, and realized the control of the surgical instruments model.Our manipulator is able to control the motion of the surgical instruments model withsimple and direct mapping relationship and can bring the user sense of immersion. It isessentially different with the keyboard and mouse.