摘要
在视触觉虚拟手术环境中,虚拟手术器械作用到虚拟组织上会受到反馈力。基于此背景,建立一种电磁力反馈系统模型,利用该模型模拟虚拟环境中手术器械受到的反馈力。为确保电磁力反馈模型的稳定性,对该模型运用Ansoft有限元分析软件进行仿真。通过电路设计分析和实验,采用ARM Cortex MCU为核心的嵌入式系统控制线圈中电流,得到电磁力与小磁体位置的关系和电磁力与线圈中电流的关系,将实验结果与仿真结果进行对比。实验结果表明,在虚拟手术允许误差范围内,实验结果与仿真结果具有一致性,所述电磁力反馈模型能有效模拟虚拟手术器械受到虚拟组织反馈力的过程。
In the visual and haptic virtual surgery environment, the virtual surgical instrument would be affected by force feedback when it applied to the virtual tissue. Based on this background, a model of the electromagnetic force feedback system was established, and was used to simulate the process of surgical instruments which were subjected to the force feedback in virtual tissue. To effectively guarantee the stability of this model, the finite element analysis of Ansoft software was used to simulate the small magnets in the magnetic field by electromagnetic force. Through the analysis of the circuit design and experiment, using the Embedded System based on ARM Cortex MCU to control current in the coil, the relationship between the electromagnetic force and the current in the coil and the relationship between the electromagnetic force and the position of the magnet were obtained, and the experimental results were compared with the simulation results. Experimental results show that within the permissible error range of virtual surgery, the experimental results are consistent with the simulations results and the electromagnetic force feedback model can simulate the process of force feedback of virtual surgical instruments subject to virtual tissue.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2014年第9期2003-2008,共6页
Journal of System Simulation
基金
国家自然科学基金(61372107
61272276)
北航虚拟现实技术与系统国家重点实验室开放课题基金(BUAA-VR-13KF-15)
