五自由度虚拟手术力反馈系统的设计与实现

Design and Realization of a Five-Degree-Freedom Haptic System for Virtual Surgery

以在虚拟膝关节镜手术中,触力觉信息的实时呈现对于手术模拟的逼真度至关重要。通过分析膝关节手术的自由度需求,提出力反馈系统的机构设计方案,并分析了该机构的运动特性。在此基础上,设计该机构的控制模块。最后通过QT软件,开发了力反馈装置与虚拟场景的接口程序。

In the virtual knee arthroscopy surgery, the real-time rendering of haptic information is essential for the fidelity of surgery simulation.The aim of this paper is to propose the mechanism scheme design of force feedback system by analyzing the demand for freedom of knee surgery,and analyzes the motion characteristics of the mechanism.On this basis,designing the control module of the mechanism. Finally,developing the interface program between force-feedback device and virtual scene through the QT software.