摘要
针对传统主从式医疗机器人在客观条件限制的情况下很难实现主从手之间的实时力反馈的问题,提出了通过虚拟现实技术实现虚拟力反馈以替代真实力反馈的方法．以“妙手”系统为研究对象,在建立显微外科手术血管缝合过程中缝合线力学模型的基础上,根据多体系统动力学理论,对由人、互感装置和虚拟环境组成的广义多体系统进行了动力学分析,由凯恩方程建立了该系统的动力学方程．通过主手的仿真数据与从手缝合过程检测数据对比分析可知,主手和从手有相同的运动特性．证明借助虚拟环境的力反馈作用,操作者通过主手可以真实地感受到从手的运动特性．
It is difficult for the traditional medical robotic system to realize reahime force feedback because of the technological limitation. A new method to replace the actual force feedback with the virtual force feedback by creating a virtual environment was put forward. Based on the “MicroHand” system and the mechanical model of vessel suture, the dynamic analysis of the generalized muhibody system composed of manipulator, haptic interface and virtual environment was carried out using muhibody theory, and the dynamic equation was constructed through the Kane equation. Result of contrast analysis shows that the master and slave manipulators have the same dynamic characteristic, which means that, just like the actual force feedback, the virtual force feedback can make the operator feel the mechanical characteristic of the slave manipulators.
出处
《天津大学学报》
EI
CAS
CSCD
北大核心
2006年第1期89-95,共7页
Journal of Tianjin University(Science and Technology)
基金
国家自然科学基金资助项目(50405018)教育部博士点基金资助项目(20030056030)天津市科技发展重点项目(043184211).
关键词
“妙手”系统
广义多体系统
血管缝合
虚拟力反馈
MicroHand system
generalized muhibody system
vessel suture
virtual force feedback
作者简介
岳龙旺（1974-），男，博士研究生，yuelw@eyou．com．
