Dummy emulation system force feedback computation method

Abstract

The invention discloses a calculation method for force feedback in a virtual system, which comprises the following steps: step 1: a virtual environment comprising a virtual space, a virtual object and a virtual tool is established, attributes of the virtual tool are set, and a point set model which includes a plurality of mass points and surrounds the virtual tool is constructed; step 2: the virtual tool and a force feedback device are bound, the motion states of the virtual tool and the virtual object in the virtual space are tracked, whether the virtual tool and the virtual object collide or not is judged, if yes, step 3 is implemented; the step 3: the line speeds and the motion speeds before and after the collision of all the collision mass points of the virtual tool during the collision are respectively calculated, and the received impact during the collision process is also calculated; step 4: the resultant forces and the resultant moments of forces of all the collision mass points of the virtual tool are calculated and sent to the force feedback device. The calculation method takes full account of the self-rotation features of a virtual surgical instrument and can be applied in a surface model or a body model adopted in the virtual surgery.

Description

A Calculation Method of Force Feedback in Virtual Simulation System technical field The present invention relates to the field of virtual simulation technology, in particular, in a virtual simulation system, for a virtual tool with rotation characteristics, the calculation method of force feedback can be widely used in medical technology, for example, it can be implemented in a virtual surgery simulation system Calculation of force feedback. Background technique Virtual simulation technology has been widely used, especially in the medical field. For example, virtual surgery is a virtual reality simulation application system specially used to simulate various phenomena that may be encountered during surgery. Through virtual surgery, the operator can be immersed in the virtual surgical scene, experience and learn how to perform various operations by manipulating virtual surgical instruments. On the one hand, it can help interns learn and master the anatomical structure of ...

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