【摘要】 设计了一种二维虚拟手术器械,提出一种机械结构设计方案,以及软件实施方案。研究了虚拟手术器械设计中一些关键问题,如元器件选择,电机堵转等,并通过实验建立了电机堵转状况下的力矩模型。更多还原

【Abstract】 A 2-DOF(degree of freedom) haptic device is presented for display of dynamic properties of virtual surgery.A method of mechanical design and control architecture are introcluced with a PC-based high performance controller hardware.Some key points in haptic device design as the selection of motors and the regulation of stall torque with the current are also illustrated in detail with the result of experiment.更多还原