Fundamentals of force feedback and application to a surgery simulator.
Fundamentals of force feedback and application to a surgery simulator.
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DOI：
10.3109/10929080309146066
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发表时间：
2003-01-01
期刊：
影响因子：
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通讯作者：
Kuehnapfel, Uwe G
中科院分区：
文献类型：
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作者：
Maass, Heiko;Chantier, Benjamin B A;Kuehnapfel, Uwe G
力反馈提高了虚拟现实手术训练系统的有效性。概述了应用力反馈的基本原理。阐述了用于保持稳定性的阻抗控制技术和数据处理方法。已经开发出适用于一般力反馈应用的灵活接口。该接口能够控制多种不同的力反馈硬件系统，包括 SensAble PHANTOM、Immersion 的腹腔镜脉冲引擎和 VS-One 虚拟内窥镜手术训练器。使用主要仿真系统 KISMET 以及建模工具 KISMO 和 VESUV 评估研究结果。在名为 HapticIO（由德国教育和研究部 [BMBF] 资助）的合作项目范围内，为虚拟神经内窥镜和腹腔镜检查设计了新的触觉设备。本文提出的概念和实现灵活、稳定且适合普遍使用。阻抗方法与开环前馈控制技术相结合，非常适合这项任务。
Force feedback increases the effectiveness of virtual-reality surgery training systems. An overview of the fundamentals of applying force feedback is presented. An impedance control technique and data processing methods for stability preservation are illustrated. A flexible interface for general force-feedback applications has been developed. This interface is capable of controlling several different force-feedback hardware systems, including the SensAble PHANTOM, the Laparoscopic Impulse Engines from Immersion, and the VS-One virtual endoscopic surgery trainer. The findings are evaluated using the main simulation system, KISMET, and the modeling tools KISMO and VESUV. Within the scope of a cooperative project called HapticIO (funded by the German Ministry of Education and Research [BMBF]), new haptic devices have been designed for virtual neuroendoscopy and laparoscopy. The concept and implementations presented in this paper have been found to be flexible, stable and suitable for universal use. The impedance method, combined with the open-loop feed-forward control technique, is well suited and appropriate for the task.