Research on Supportive Force Feedback of Gallbladder Virtual
Surgical Robot Simulation System
JI Runing
School of Mechanical and Electrical Engineering, Soochow University, Soochow Jiangsu 215008, China;
Department of Medical Engineering, Suzhou Municipal Hospital North District, Suzhou Jiangsu 215008, China
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.
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.
JI Runing. Research on Supportive Force Feedback of Gallbladder Virtual
Surgical Robot Simulation System. China Medical Devices, 2017, 32(12): 30-34.
