A Variable Impedance and Event-Based Haptic Feedback Control Method

Abstract

The invention discloses an impedance-variable and event-based touch feedback control method. The method comprises that a dynamic model of a force feedback device is established, and a compensation force / moment Fc of the force feedback device is calculated on the basis of the dynamic model; according to the real-time interaction state of two action parts in a simulated experiment, the biomechanical feature of the auxiliary action part is adjusted in real time, and thus, an interactive force FVE between the main action part and virtual environment is calculated; a vibration feedback force Fv of the force feedback device is determined according to event signals in the simulated experiment; and based on the dynamic model, an impedance-variable and event-based control method is used to control output of a touch force of the force feedback device in real time. Thus, touch of the force feedback in the simulated experiment is reproduced, the fidelity and transparency of touch of the force feedback device in the simulated experiment are effectively improved, and the immersion feeling of the simulated experiment is enhanced.

Description

technical field [0001] The invention relates to the fields of tactile force interaction technology, virtual reality technology, robot control technology and the like, in particular to a variable impedance and event-based tactile feedback control method in surgical simulation. Background technique [0002] The use of virtual reality technology to train practitioners in professional skills has achieved good results. A very successful example is the use of flight simulators to train pilots. With the development of computer and virtual reality technology, surgical simulation has gradually become a new way for doctors to perform preoperative exercises and skill training. Traditional surgical simulation technology mainly provides visual feedback to users. Users can only see the interaction between surgical instruments and physiological tissues, but cannot touch and feel them. Therefore, there is a big difference between traditional virtual interactive operation and real surgical ...

AI Technical Summary

Problems solved by technology

However, due to the high speed of grinding and drilling, it is very easy to cause harm to patients, and it takes a long time for young doctors to master this skill.

[0004] For existing commercialized force feedback devices, they are often multi-purpose, and the operating handle of the device is far from that of surgical instruments

In addition to the need to modify the structure of the device to meet the needs of the operation, the general-purpose force feedback device can only feedback the mutual force, and cannot reproduce the real "feel" of the grinding drill

In particular, the change of the interaction force after bone structure grinding cannot be truly fed back to the operator, and doctors naturally cannot make judgments and decisions based on the corresponding feedback force

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