Design And Realization Of Manipulator With Five-DOFs For Virtual Laparoscopic Surgery

With the development of surgery technology, it's difficult for traditional clinical teaching pattern to achieve the goals of teaching and practice. Owing to the advantages of inexpensive cost, repeatability and non-invasive design, virtual surgery has quickly become a research hotspot. Virtual laparoscopic surgery is one of the most common virtual surgery. However, most of previous virtual surgery system can only visualize the surgical lesions and are lack of human-computer interaction interface, which lead to a poor sense of reality. Hence, an additional manipulator module, which is used as the interactive interface, is necessary to realize the real operation simulation in virtual laparoscopic surgery system.In the real clinical laparoscopic surgery, the movements of surgical instruments include rotation, stretch, opening and closing angle, and rotating around four directions restricted by a fixed point. According to the features of virtual laparoscopic surgery system, this work designs a orthogonal configuration manipulator equipment with five independent degrees of freedom after calculating size and reasonable layout structure enclosure. The equipment supports scaling, spinning, turning right and left, turning up and down, and jaw opening or closing respectively in five degrees of freedom and the five degrees of freedom take an orthogonal configuration design, which don't conform to the doctor's operation but also avoid the complex coordinate transformation when used in virtual surgery system. A press panel was provided for users to select the surgical instruments and other shortcuts in the process of operation, and a pedal is installed in the manipulator as supplementary. The manipulator captures the space motion information through data collection sensors, then pass the data to the virtual surgery system. The virtual surgery system completes the posture information transformation process from the manipulator to the virtual instruments by analyzing the correspondence between voltage and mechanical displacement collected from the five degrees of freedom, and puts the mechanical displacement on the virtual instrument to realize the control of the virtual instrument by the manipulator. The above process reached the demand for manipulator human-computer interaction function in virtual laparoscopic surgery system.The manipulator realizes the function of controlling virtual surgery procedures through human-computer interaction and meets the demand of real-time operation in the virtual laparoscopic surgery system. With the advantages of extendibility, real-time and easily operation, it can be applied to a variety of virtual laparoscopic surgery scene.