Application Research Of Virtual Reality Haptic Feedback System

Haptic feedback system which relies on haptic instrument to achieve sensing and reproduction. Tactile feedback technology allows the operator to sense virtual model’s feature, constraints, and interactive state through the feedback of force tactile, so as to constraint and guide the operator’s real-time interaction with the virtual environment.Among the research in virtual reality, haptic interface is a key interactive device. Since medical simulation gradually began to force tactile from visual simulation development simulation, virtual surgery simulation represented minimally invasive medical Vinci surgical robot also emerged. When the doctor performing minimally invasive surgery, lost as rich visual development of surgery and haptic information, perceptual channel appeared blocked. In the fuzzy information, it is prone to mistakes operation, so that the reliability is greatly reduced.Therefore, the application of virtual reality haptic feedback system played a key role in the development of minimally invasive surgical robot that can effectively improve the safety and reliability of minimally invasive surgical procedures.In this paper, the application of haptic feedback system’s virtual reality is studied,virtual model and the flexible sleeve surgical clamp model are established, the Swiss company Force Dimension haptic force feedback device Omega.7 is analyzed, virtual force telepresence system is built to achieve the matchment of seven freedom between Omega.7and virtual surgical clamps, It focuses on the experimental simulation of virtual haptic interaction in minimally invasive surgery, surgical clamps and multi-channel single-hole.The main contents are as follows:(1) The structure of Omega.7 is analyzed, and its inverse kinematics solution are studied. At last, tactile force feedback system’s control principle of Omega.7 is introduced.(2) With Solid Works software for virtual environments surgical clamp making three-dimensional geometric modeling. Realizing seven degrees of freedom’s matchment of Omega.7 and virtual surgical clamp in virtual scene.(3) Modeling flexible sleeve with a spring mass. The type of bounding box is the axial bounding box to achieve a rapid detection; haptic calculation partly based onspring-damper model, the model calculates simply and fast, is able to simulate force telepresence realistic of virtual environment.(4) Telepresence systems design virtual force mainly through tactile CHAI 3D rendering engine haptic feedback device Omega.7 the SDK and other common building.Finally, virtual surgery tongs and flexible cannula simulation experiments are conducted in virtual haptic telepresence system.