支持力反馈的胆囊虚拟手术机器人仿真系统研究

摘要

本文利用虚拟现实技术搭建了一个支持力反馈的胆囊虚拟手术机器人仿真系统.主要讨论了本系统中涉及的软组织虚拟模型构建、碰撞检测、力反馈计算、虚拟机器人的设计及运动控制、虚拟环境搭建等关键技术的实现方法.并对于传统力反馈计算中存在的计算量大导致系统实时性较差的问题,提出了一种新的力反馈计算方法.通过在所搭建平台上进行的胆囊虚拟手术操作,分析该系统的性能指标.结果表明,该系统中机器人运动控制较为流畅,对于胆囊的虚拟手术操作具有较为真实的力觉反馈和视觉反馈,且系统具有较好的稳定性及实时性.%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.