Digital robot-aided surgery system based on biomechanical information
- VernacularTitle:基于生物力学信息数字化机器人辅助手术系统
- Author:
Mo-nan WANG
1
;
Xian-jun AN
1
Author Information
1. Robotics Institute, Harbin University of Science and Technology
- Publication Type:Journal Article
- Keywords:
Force feedback;
Robot-aided surgery;
Virtual surgery system;
Biomechanics
- From:
Journal of Medical Biomechanics
2013;28(6):E648-E653
- CountryChina
- Language:Chinese
-
Abstract:
Objective To establish a set of digital robot-aided surgery system to represent the real surgery process, and realize robot control and force feedback in virtual environment by digital human tissue simulation combined with outer force feedback instrument. Methods The digital robot aided-surgery system design includes human tissue biomechanical modeling, biomechanical model calculation, force feedback instrument design, control algorithm, digital robot-aided surgery system based on biomechanical information. Results After local area network was successfully connected between haptic device control system and virtual environment, the system completed closed-loop information transfer process. Conclusions The robot-aided surgery system can realize the master-slave control, visual feedback and force feedback in virtual environment, which will contribute to the development of digital surgery simulation technology and gain advantages in the aspects of improving surgery success rate and training new doctors.
