The research and application of Virtual Surgery System (VSS) can not only cut down the expense and the time of training a qualified surgeon, but also reduce the chance of surgery venture. So VSS has significant meaning for the improvement of medical education and medical treatment. The Man-machine Haptic Interaction Technology plays a key role in VSS. Virtual surgery instrument is an important component of VSS, and now is one factor that restricts the further development of VSS. The paper researched deeply the man-machine haptic interaction technology of VSS. The working principle and realization method of virtual surgery instruments, as well as physical model of biology soft-tissue are discussed and researched. The novel work and contribution of this thesis can be summarized as follows: For building the reality-based haptic model of the virtual surgery, a new kind of scalpel information acquisition device has been developed, which can at the same time give out the scalpel cutting force data, the position and pose information of the scalpel, as well as exercise speed information. The device is implemented by installing sensors on a true scalpel. It owns the characteristic of compact structure, high precision and conveniently to use. An electronic balance calibrated the device; the experiment results show that the scalpe force acquisition device can accurately gather scalpel-cutting force data. This thesis proposed a physical model building method of biologica soft-tissue. The method based on the real cutting force data and SOft-tiSSUE deformation data. The biological characteristics were analyzed, such as delay slack, creep and anisotropy properties. The cutting force data was analyzed ir detail from the point of energy conservation and state transform. The methoc of determining biological tissue's fracture toughness, and viscoelasticit stress-strain relation are also researched. The physical models of liver anc skin have been builded based on real cutting data. A virtual scalpel and a virtual scissors based on true surgery instrumen shape have been developed. The virtual surgery instruments have forc feedback and self-location function. When there is collision between virtua instrument and virtual obiects in virtual surclerv, the force feedback device canprovide a controllable force to user who then can have real feeling. An improved proportional electromagnet is used as the actuator of this force feedback device. Force is transmitted from actuator to effector via steel cable-spring pipe. The force is closed-loop controlled in the system, update speed can reach 1000 Hz. The operation mode of the virtual surgery instruments make users have the same feeling as they have in true operation. The virtual surgery instruments can meet practical requirement, and have good effect. Magnetic track technology is also researched in this thesis, and on this found
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