Research And Achievement Of Virtual Surgery Force Information Acquisition System

Virtual surgery is one of the most important application areas of virtualreality(VR) technology, and is meaningful for surgical operation planning and training.Current research achievements and applications of virtual surgery are mainly focusedon visual senses. While the situation of man-machine haptic and force interactiontechnology is far from satisfactory, especially on the mechanical characteristics ofsoft tissue, where bad transparency are the issues to be settled.Start with the simulation of endoscope visceral surgery, after the study ofcommon soft tissue mechanical characteristics measuring method, this paper areattempt to measure the force information of soft tissue with experimental method. Ithas designed a force information acquisition system for soft tissue and do research onthe soft tissue mechanical characteristics.Firstly, base on the analysis of both force characteristics of surgical instrument inthe surgery and 6-DOF force sensor insufficiency, this paper has designed a low-range6-DOF force sensor. After prove the practices with finite element method, itdemonstrates the low couple between dimensions with experimental calibration.Secondly, this paper designed a five-DOF device to simulate typical of action inthe surgery. Based on the 5-DOF device, it designs a measurement system of softtissue mechanics information. The measurement system can simulate various typicalaction in the surgical operation. At the same time, it can simultaneously measuringlocation information and mechanical information during the simulation operation.Finally, based on the 5-DOF measurement system, we do a force informationacquisition experiment with simulating the surgical typical action. According toexperiment result, this paper analyzes the mechanical characteristics of surgicalinstruments with soft tissue.