Method, device and system for simulating haptic interaction between bone drill and bone

Abstract

A method, apparatus and system for simulating force interaction between a bone drill and a skeleton applicable to the field of force interaction. The method comprises: detecting whether a collision takes place between a bone drill module (2) and a skeleton module (3) in real time; when a collision takes place, acquiring a movement speed and an autorotation speed of each collision point before the collision; calculating a movement speed and an autorotation speed of each collision point after the collision; removing a collision point having a separation speed with respect to the skeleton module (3) after the collision; calculating a resistance force and a frictional force on a collision point that is not removed at the time of collision according to the movement speeds and autorotation speeds before and after the collision and a method based on impulse theory; and synthesizing resistance forces and frictional forces of all collision points that are not removed into a resultant force to output same to a force feedback device. By using a method based on impulse theory to calculate a resistance force and a frictional force on a collision point that is not removed at the time of collision, force differences brought about by force interaction, such as grinding, among different bone drills and skeletons can be effectively reflected.

Description

technical field [0001] The invention belongs to the field of force-sense interaction, in particular to a method, device and system for simulating force-sense interaction between a bone drill and a bone. Background technique [0002] Bone grinding operation is the most commonly used surgical technique in various orthopedic surgeries. It is mainly used to remove part of the bone to expose the surgical area or to shape the bone body. Examples include grinding away bone spurs or osteophytes in herniated disc surgery; using a bone drill to create a smooth groove to replace a worn acetabular cup in hip replacement surgery; and removing a brain tumor by grinding a path through the skull. Most of these operations are irreversible, so any surgical mistakes may cause great harm to the patient. For example, if the bone grinding process is not well grasped, it is easy to damage fragile tissues such as nerves and blood vessels. Therefore, young doctors need to undergo long-term and ardu...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide a method for simulating the force-sense interaction between the bone drill and the bone, aiming to solve the problem that the existing force-sense interaction method between the simulated bone drill model and the bone model cannot reflect the bone drill of different materials The problem of force sense difference caused by force sense interaction with bones

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