中文摘要：

设计了一套用于外科医生手术仿真训练的具有实时力反馈的虚拟手术仿真系统。阐述了反馈设备通过带有力/位置传感器的单自由度的机械手和电机控制电路实现实时模拟手术仿真的位置采集和力反馈功能。通过碰撞检测、非线性力反馈计算和软组织形变计算等算法实现逼真的视觉反馈功能。仿真实验表明该系统提供了实时的视觉反馈,具有很强的真实感。

英文摘要：

A virtual surgery simulation with real time force feedback which is used in the operation simulation training of surgeon is designed.Force feedback device through single degree freedom manipulator with force/position sensor and motor control circuit realize position collection and force feedback function of real time imitated surgery simulation.A realistic visual feedback function is implemented by collision detection,non-linear force feedback computing,soft tissue deformation calculation and other algorithms.The simulation shows that the system provides real time visual and force feedback,which is highly realistic and can be used in virtual surgery simulation of human soft tissue organ palpation and surgical needle insertion.