The invention discloses a virtual
surgical instrument with 5-free degree force feedback, which belongs to the field
medical training instruments. The invention includes a control detecting
system and a mechanical structure which consists of a set of feet, a base board, two columns, a roof, four reduction gears, four reduction arc teeth, four retaining plates, two scissor handles, two parallel guide rods, a set of pull rods, an operating lever, a rolling bearing, an upper beam, a lower beam, a roller and a slide block and five drive actuators. The sensor collects input information of an interactive
system such as
pose and
operating speed of an equipment
handle, while drive actuators apply a variety of force and damping effect to an
equipment operator. The virtual
surgery device with 5-free degree force feedback can realize force feedback function with 5 free degrees, and the allowable human sports joints include the
wrist joint, the
elbow joint and the
shoulder joint of the arm. With the virtual
surgical instrument, the operator can perform virtual
surgery actions of
surgical scissors, a surgical clamp, a scalpel and a surgical abrasion
drill, etc.