基于力/触觉反馈的虚拟血管介入手术系统

摘要

设计了一种新颖的基于力/触觉反馈的虚拟血管介入手术系统.该系统以通用型力/触觉交互设备—Novint Falcon 力/触觉再现装置为核心,能够完成虚拟血管手术环境中的力/触觉反馈.详细介绍了系统的硬件环境参数,并设计了基于3DS MAX的建模与CHAI 3D的仿真软件系统.仿真实验结果表明:基于力/触觉反馈的虚拟血管介入手术系统可以有效地模拟血管介入手术时的力反馈状态,帮助医师进行血管介入手术术前训练,提高手术成功率.%This paper introduces a virtual system of hemal intervening operation based on haptic feedback. This system is a core of general-purpose haptic interactive device-Novint Falcon haptic display device, which can a-chieve haptic feedback in the virtual hemal intervening operation. This paper introduces hardware environment parameters of the system,and designs modeling based on the 3DS MAX and simulation software system based on CHAI 3D. The simulation results show that this system can effectively simulate the condition of haptic feedback in the hemal intervening operation, which may offer convenience for doctor training before hemal intervening operation and increase the success rate.