Research Of Force Feedback Device Of Virtual Cardiovascular Interventional Surgery

Virtual interventional surgery is an very important application of virtual reality technology in the field of medicine. Compared with the traditional training methods, virtual interventional surgery can help trainees to get operation skills in a very short time and save much cost and time. It is one of development directions of future digital medicine.In this paper, motion and force feedback technology of virtual interventional surgery was presented in details, and a force feedback device of virtual cardiovascular interventional surgery was developed based on the principles of cardiovascular interventional surgery and force feedback technology. This force feedback device can be used to simulate the insertion procedure of guide wire, balloon catheter and guide catheter.Research of force feedback device consisted of two parts: design of force feedback mechanism and development of control system. In the former part, 3D model of the device was designed and force analysis of interventional instruments was presented. In the latter part, the displacement measurement program of four mouse sensors was designed based on RawInput API and the control system of stepping motors was designed based on PCI1040 motion control card. At last, an experiment platform of virtual interventional surgery was set up and experiments on the performance of motion and force feedback were carried out. By analyzing the results of the experiments,influencing factors of this force feedback device were discussed.