Research And Implementation Of Virtual Surgery Device With Haptic Feedback

Virtual surgery is one of the most important applications of virtual reality technology in the medicine field. With the virtual surgery device, the doctors can enter in the virtual environment, operate on the virtual organs, so as to plan new surgeries, do surgery training and remote operation. The haptic feedback device is an important component of Virtual Surgery System(VSS), and now is one factor that restricts the further development of VSS. With the force feedback technology, virtual surgery instrument makes the training more real and effective. The research and application of VSS can cut down the expense and the time of training a qualified surgeon.In this paper, the force feedback technology of VSS is presented in details including the working principle and realization method of virtual surgery instruments. Next, orienting to the Interventional Operation, a virtual interventional operation device with haptic feedback is developed. By and large, following works are concerned: the establishment of the whole design scheme, the selection of actuators and sensors, the brain storm of mechanical structure, the selection of controller, the assembly and adjustment of the device. At last, the control program with visual interface are presented in details.Orienting to the defects of the five-degree-of-freedom haptic device, we optimize and implement a new five-degree-of-freedom haptic device after adjustment. By and large, following works are concerned: optimization of the cable transmission device, optimization of the fast-respondability of the device (optimization of the graduating device and the parts structure) and optimization of the mechanical structure. At last, we assemble and adjust of device.