KINEMATIC ANALYSIS AND DESIGN OF A HAPTIC DEVICE FOR NEUROSURGERY SIMULATION, 60-66
Xinwei Yan and Peter X. Liu
Keywords
Virtual surgery, haptic devices, kinematics, simulation
Abstract
In neurosurgery, the surgeon is faced by a number of difficulties and
challenges, such as poor geometric accuracy, unpredictable factors
and visual obstacle. A neurosurgery simulator makes it possible to
imitate a procedure before operation and plan operation in advance,
reducing operation risk. A haptic device provides force and tactile
feedback in virtual surgery, which greatly improves the reality of
virtual surgery simulation. Based on the general requirements
of neurosurgery, a haptic feedback device containing six degrees
of freedom is designed. According to the Denavit–Hartenberg
method, the coordinate system related to the haptic device has
been established, and its kinematics is analysed. The correctness
of kinematic equations is verified by using MATLAB robot toolbox,
and the workspace of the equipment is simulated by using the Monte
Carlo approach. Motion parameter curves of each joint are obtained
through ADAMS simulation and data analysis, which confirms the
feasibility of the design.
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