中国医疗设备2017，Vol.32Issue(12)：30-34,56,6.DOI:10.3969/j.issn.1674-1633.2017.12.007
支持力反馈的胆囊虚拟手术机器人仿真系统研究
Research on Supportive Force Feedback of Gallbladder Virtual Surgical Robot Simulation System
季如宁1
作者信息
- 1. 苏州大学 机电工程学院,江苏 苏州 215008
- 折叠
摘要
Abstract
In this paper, we used virtual reality technology to build a supportive feedback gallbladder virtual surgery robot simulation system. This paper mainly discussed the implementation of key technologies such as soft tissue virtual model construction, collision detection, force feedback calculation, virtual robot design and motion control and virtual environment construction. And a new force feedback calculation method was proposed for the problem that the computational complexity in the traditional force feedback calculation leaded to the poor real-time performance of the system. The performance of the system was analyzed by the gallbladder virtual operation on the platform. The results showed that the motion control of the robot was relatively smooth, and it had more realistic force feedback and visual feedback for the virtual operation of gallbladder, and the system had good stability and real-time nature.关键词
虚拟手术/机器人/手术仿真/胆囊Key words
virtual surgery/robot/surgical simulation/gallbladder分类
信息技术与安全科学引用本文复制引用
季如宁..支持力反馈的胆囊虚拟手术机器人仿真系统研究[J].中国医疗设备,2017,32(12):30-34,56,6.
