Virtual reality based remote diagnosis and treatment robot force tactile representation method

A remote diagnosis and treatment and tactile reproduction technology, applied in the field of medical robots, can solve the problems of complex construction and implementation of the tactile presence system, difficulty for doctors to fully understand patients with tactile information, and unsatisfactory real-time and interactivity, so as to improve palpation effect, improve authenticity and real-time performance, and reduce the effect of doctor's misoperation

Active Publication Date: 2018-05-01
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003] However, in the generation and reproduction of tactile presence in existing medical robots, especially remote diagnosis and treatment robots, there are complex construction and implementation processes of tactile presence systems, unsatisfactory real-time performance and interactivity, and a large amount of calculation for feedback force. Insufficient waiting, it is difficult to meet the current actual needs
Secondly, the loss of tactile information makes it difficult for doctors to fully understand the patient's condition, which is likely to cause misuse

Method used

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  • Virtual reality based remote diagnosis and treatment robot force tactile representation method
  • Virtual reality based remote diagnosis and treatment robot force tactile representation method
  • Virtual reality based remote diagnosis and treatment robot force tactile representation method

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Embodiment

[0044] figure 1 It is a block diagram of the haptic system of the remote diagnosis and treatment robot based on virtual reality in the present invention.

[0045] In this example, if figure 1 As shown, the haptic system of remote diagnosis and treatment robot based on virtual reality mainly includes: PC, haptic interaction equipment, and palpation robot.

[0046] The PC includes hard disk, graphics card, driver and other necessary software and hardware conditions to realize the virtual reality part, and the virtual reality part includes the human tissue model, and the collision detection module that detects whether the virtual agent of the force-tactile interaction device collides with the human tissue model. Deformation calculation module after collision, etc.

[0047] The PC and the force-tactile interaction device are connected by cables as the host operating terminal for doctor operation and control, and the diagnosis and treatment robot as the slave operating terminal f...

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Abstract

The invention discloses a virtual reality based remote diagnosis and treatment robot force tactile representation method, which is characterized in that a PC (Personal Computer) and a force tactile interaction device serve as a host operating terminal which is provided for a doctor to operate at the doctor end, a palpation robot serves as a slave operating terminal which carries out palpation at the patient end, then a body tissue geometrical model is built, models for collision detection and deformation calculation are separated, an improved mass point-spring / damper model is adopted to perform deformation calculation, and the authenticity and real-time performance of force tactile representation are improved.

Description

technical field [0001] The invention belongs to the technical field of medical robots, and more specifically relates to a force-tactile reproduction method for a remote diagnosis and treatment robot based on virtual reality. Background technique [0002] Medical robots are currently one of the most active and most invested directions in the field of robot research at home and abroad. Since 1988, Canada, the United Kingdom, the United States, Germany, Italy, Belgium, Japan, the Netherlands, Switzerland, China and other countries have launched brain-to-brain Research on surgical robots, endoscopic surgery robots, neuromicrosurgery robots, and medical robots such as patrol robots, rehabilitation robots, and medical service robots. [0003] However, in the generation and reproduction of tactile presence in existing medical robots, especially remote diagnosis and treatment robots, there are complex construction and implementation processes of tactile presence systems, unsatisfact...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G16H40/67G16H50/50G06F3/01G06T19/00
CPCG06F3/011G06F3/016G06T19/00G06T2210/21G06T2210/41
Inventor 刘珊杨波郑文锋张宇慧
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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