Design and development of simulation system for minimally invasive surgery robot

摘要

This paper developed a simulation system for the training minimally invasive surgery (MIS). The simulation system has the capacity of providing the user with the security and real learning environment. The simulation system adopted Omega7 force sensing device as the input equipment offering position and posture information to the virtual robot. On the basis of the actual surgery robot model, we run the kernel simulation algorithm, which makes the surgical robot in the virtual environment imitate the real robot to complete operation action. At the same time, the user can be allowed to interact with the control panel in the interface, which has the same function as the real console, to control the virtual robot.