中文摘要：

随着虚拟现实技术的进步，带有力感觉的仿真研究迅速发展，特别是在医学上得到了广泛应用。利用虚拟现实技术取代效率低下的常规培训，可以大大减少所需的培训时间和昂贵的动物实验费用。针对复杂的显微外科手术的血管缝合，作者建立了可用于大夫培训、手术规划的虚拟现实系统。其中的交互设备采用了具有力反馈功能的PHANTOM—Desktop，使用与之配套的GHOSTSDK软件开发包，建立虚拟环境。考虑到柔性体仿真的实时性和真实性要求，采用了质量一弹簧模型的建模方法。在完成了对虚拟环境中柔性平面仿真的基础上，成功实现了带有力感觉的显微外科血管穿刺的虚拟仿真。

英文摘要：

Along with the progress of virtual reality （VR） technology, study on haptic simulation has a rapid development. In particular it is widely used in medicine. Using this technology to replace some inefficient conventional training can greatly reduce the training time and the expensive animal experiments. According to the complex vessel suturing in a microsurgical operation, the authors build a virtual reality which can be used as doctor training and operation layout. The haptic interface is PHANTOM - Desktop with force feedback. And the virtual environment is set up by GHOST SDK. Taking the real - time and reality into account, mass - spring models is adopted in soft tissue simu- lation. Based on the deforming simulation of a soft plane i.n a virtual environment, the vessel piercing simulation with force feeling is completed successfully.