中文摘要：

利用等强度梁和步进电机模拟真实手术中的穿透过程，针对心脏瓣膜微创手术进行了不同穿透速度的力采集实验，获得了虚拟手术中力反馈的真实信息，也为建立虚拟人手术专家系统提供了有效的数据。实验记录了穿透曲线，发现当穿透力高于10mm/s时心脏瓣膜的穿透力出现了峰谷交替出现的曲线；而低于这个速度时候并无明显的峰谷区别。还有一个明显的现象，穿透力随着穿透速度的增加而增加。实验数据为力反馈设备提供了实际的反馈曲线，并可以用于计算试验软组织对象的材料特性，为计算机仿真模拟提供材料参数。

英文摘要：

The penetration process of heart valve in minimally invasive surgery was simulated by using beams of constant strength and stepper motors, in which the real operation data of virtual surgery was recorded. The curve of continuous load versus time data for heart valve was obtained and showed that when the penetration force was 〉 10 mm/s, the alternative peak valley curve was observed, while no changes were found when the force was less than 10 minis. In addition, the turn of the emergence of wave crest and wave trough was obvious, the penetration force was increasing with velocity. The date can be used for calculating soft tissues material properties applied in computer simulation as parameters.