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A force-tactile reproduction method for remote diagnosis and treatment robots based on virtual reality

A remote diagnosis and treatment and tactile reproduction technology, applied in the field of medical robots, can solve the problems of complex construction and realization of the tactile presence system, difficulty for doctors to fully understand patients with tactile information, unsatisfactory real-time and interactivity, etc., to improve palpation effects, effects that enhance realism, and speed up efficiency

Active Publication Date: 2021-07-13
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

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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  • A force-tactile reproduction method for remote diagnosis and treatment robots based on virtual reality
  • A force-tactile reproduction method for remote diagnosis and treatment robots based on virtual reality
  • A force-tactile reproduction method for remote diagnosis and treatment robots based on virtual reality

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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 force-tactile reproduction method for a remote diagnosis and treatment robot based on virtual reality. A PC and a force-tactile interactive device are used as the host operating end to be operated by the doctor at the doctor's end. Palpation is performed, and then the geometric model of human tissue is performed, and the collision detection and deformation calculation models are separated, and the improved mass-spring / damper model is used for deformation calculation, which improves the authenticity and real-time performance of force-tactile reproduction.

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 Patents(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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