五维力反馈虚拟手术装置的优化设计  

Optimization of a five-degree-freedom haptic device for virtual surgery

作　　者：宋亚冲[1] 赖芸[2] 杨扬[1] 赵志球[1] 谢叻[1] 

机构地区：[1]上海交通大学国家数字化制造技术中心,上海市200030 [2]上海交通大学实验室与设备处,上海市200240

出　　处：《中国组织工程研究与临床康复》2009年第26期5087-5090,共4页Journal of Clinical Rehabilitative Tissue Engineering Research

基　　金：国家高技术研究发展计划资助项目(2006AA01Z310);国家自然科学基金资助项目(60873131);上海交通大学"医工(理)交叉研究基金"项目(YG2007MS34)~~

摘　　要：虚拟手术是虚拟现实技术在医学领域的重要应用,医生借助虚拟手术系统与虚拟环境进行交互,可以进行手术规划、手术培训和远程手术。虚拟手术系统中的力反馈设备是其重要组成部分,也是制约当前虚拟手术发展的瓶颈问题之一。力反馈技术可以使医生获得与虚拟对象交互产生的力觉,如同进行真实手术操作一样,可以使训练更真实、准确、可靠。虚拟手术系统的开发和利用可以节约培训医务人员的成本和时间。文章主要介绍了一套用于虚拟手术系统的五自由度力反馈装置,该装置不仅能跟踪人手的五维运动而且能输出五维的触觉力。以自行设计的装置为研究对象,分析其设计不完善的方面,重点分析了减速比对装置响应速度滞后的影响,并在分析的基础上对该装置进行了设计优化。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 and do surgery training and remote operation. The haptic feedback device is an important component of virtual surgery system （VSS）, but is also one factor that limits 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 reduce cost and time of training a qualified surgeon. The paper introduced a five-degree-freedom haptic device for virtual surgery, which can track the movement of the user and provide five-degree-of-freedom force feedback. With the haptic device as a studying object, we analyzed the imperfect aspect of the device, in particular the effect of reduction ration on the response speed of the haptic device, so as to optimize the device.

关 键 词：虚拟现实 力反馈 虚拟手术 减速比 

分 类 号：R318[医药卫生—生物医学工程]