Research On Enhancement Of Force Telepresence In Virtual Surgery

Surgery simulation is an important application of virtual reality in the field of modern medical, the study of haptic model and haptic rendering technique are currently hot and frontier both in China and international world.To improve the stability, continuity, and accuracy of flexible deformation and computational efficiency in haptic rendering, proposed a novel approach based on spherical harmonic representations to simulating the virtual deformation of soft objects. Firstly, represented model of soft object by spherical harmonic, and mapped different spherical harmonic models into common reference system in order for corresponding coefficients in the different models to be comparable with method of principal components analysis and force feedback to be calculated by simplified deformation wave equation. Experiment results demonstrate that accurate flexible deformation is represented. Then,estimated the haptic deformation model by radial basis function neural network,which was trained with least error measure method. The simulation results indicated that the haptic deformation model could be accurately calculated using the proposed approach and the computational time was acceptable for real-time applications. Finally, established the interactive experimental platform of haptic deformation based on vizard and force feedback devices.Experiment results show that methods of haptic deformation modeling based on spherical harmonic and radial basis function neural network can improve the stability, refresh rate of haptic interaction, and strengthen the force telepresence effectively.