Xinwei Yan and Peter X. Liu
Virtual surgery, haptic devices, kinematics, simulation
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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