A Study Of Immersive Visual-haptic Interaction Devices In Virtual Surgery

In the recent years,as one of the key technologies in virtual surgery,haptic feedback interactions are receiving more and more attention.The earliest haptic feedback interaction devices are using the mechanical force feedback.However,because the mechanical force feedback devices use the mechanical joints as the generation of the feedback forces,the friction of the joints will influence the precision of the feedback forces and bring energy losses.In order to overcome the disadvantages of mechanical force feedback devices,the research of electromagnetic force feedback devices is becoming a popular research field.In this work,we design and implement a new electromagnetic haptic interaction device.1.In this work,a mathematical and physical model of multiple electromagnetic coils generating electromagnetic field is derived.The solution of the electromagnetic field equation is discussed.Further,we analyze the characteristics of the magnetic field,the influence of the coil attitude on the relationship between the current and the magnetic field,and the variation of the magnetic field with the coil attitude,all of which provides a theoretical basis for the control of electromagnetic feedback force.2.Based on the mathematical and physical model,the concept of interactive requirements is put forward in this work.We use the probability-cloud in six dimensions to describe in a mathematical way the requirements of characteristics of magnetic field by the interaction of different needs,and proposed an algorithm of calculating the coil spatial pose using probability-cloud corresponding to various interactive requirements.3.According to the optical environment of the electromagnetic haptic feedback interaction device designed in this work,we optimize the stereo vision module in the device,making the stereo vision module able to recognize the red dots on the operating stick fast and accurately,and calculate the spatial position of the operating stick fast and accurately.It makes the electromagnetic haptic feedback interaction device designed in this work run efficiently.4.At last,in this work,combining the research and innovation above,we design and manufacture the mechanical parts of the electromagnetic haptic feedback interaction device.In our device,the position and direction of the electromagnetic coils can be adjusted at any time according to the requirements of different interactive applications,in order to achieve the maximization of the haptic feedback efficiency.