中文摘要：

基于图像及三维磁跟踪的方法，设计了生物组织切割过程的多参量（切割力，切割深度及切割速度）采集系统，并针对猪肝脏，心脏，肌肉等软组织进行了系统性能的实验验证；研究了手术刀在切割不同组织时，切割速度，切割深度等与切割反馈力，破裂极限间的相互关系，并初步给出了手术刀连续切割的力反馈触觉模型；为进一步研究生物组织的物理特性及基于真实的切割过程的手术模拟提供了实验条件。

英文摘要：

Based on the image processing and magnetic tracking methods, a cutting multiparameter （cutting force, cutting depth, cutting velocity etc.） acquisition system was proposed and validated from the soft tissue （ liver, heart ,muscle and skin etc.） cutting experiments. The relations between the tissue characteristics and cutting parameters were investigated and a primary cutting force model was presented, which provided a platform for researching the characteristics of living tissue and haptic modeling in the soft tissue surgery simulation.