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中文摘要：
设计开发了一种支持力反馈的虚拟手术仿真系统,以PHANTOM Premium力反馈器为整个系统的核心设备.同时,介绍了虚拟手术仿真系统的结构设计、构建模型、变形计算和程序流程等.结果表明,系统触觉反馈平稳、模拟效果比较逼真,在一定程度上能够满足虚拟手术对实时性和逼真性的要求.
英文摘要：
This force feedback assisted virtual surgery simulation system was designed and devel- oped,based on a PHANTOM Premium force feed- back equipment. Moreover, system structure de- sign, model building, deformation calculation and program flow are also introduced in detail. The re- sults show that the system can provide smooth tactile feedback and realistic simulation, to meet the requirements about real - 1time and realistic of virtual surgery.
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