Analysis of Virtual Vessel Suture Based on Multibody Theory

摘要

It is difficult for the traditional medical robotic system to realize realtime force feedback because of the technological limitation. A new method to replace the actual force feedback with the virtual force feedback by creating a virtual environment was put forward. Based on the MicroHand system and the mechanical model of vessel suture, the dynamic analysis of the generalized multibody system composed of manipulator, haptic interface and virtual environment was carried out using multibody theory, and the dynamic equation was constructed through the Kane equation. Result of contrast analysis shows that the master and slave manipulators have the same dynamic characteristic, which means that, just like the actual force feedback, the virtual force feedback can make the operator feel the mechanical characteristic of the slave manipulators.