Research On Interactive Force Feedback Control System For Virtual Surgery

Virtual surgery is one of the most important application areas of virtual reality (VR) technology, and is meaningful for surgical operation planning and training. Current research achievements and applications of VR are mainly focused on visual and auditory senses. While the situation of man-machine haptic and force interaction technology is far from satisfactory, where the motor trembling, algorithm redundancy, poor control accuracy and bad transparency are the issues to be settledThe haptic and force interaction technology of VSS is summarized including the working principle and the new approaching of virtual surgery system. The method of system modeling for various virtual environments and the control architecture is introduced. The system performance including stability, rapidity and stationarity is analyzed with the results of Matlab simulation, and some key points of system parameter design are put forward. The control method of PI parameter self-tuning combining with Impedance Control had been used to improve system performance. The prototype of VSS based on the WTK platform and Visual Studio has been designed. The results of the performance analysis have been well-proved by the results of both experiment and simulation. And the control method has improved the performance of the force feedback system distinctly.