Lamata Pablo, Gómez Enrique J, Sánchez-Margallo Francisco M, Lamata Félix, Antolín María, Rodríguez Samuel, Oltra Alfonso, Usón Jesús
Grupo de Bioingeniería y Telemedicina, Universidad Politécnica de Madrid, Spain.
Stud Health Technol Inform. 2006;119:288-92.
One of the most controversial dilemmas in virtual reality laparoscopic simulators design is the incorporation of force feedback (FF). This issue is approached with an experimental design in which surgeons assess the resistance against pulling of four different tissues, which are characterized with the acquisition of interaction forces. Comparing subjective assessments with objective force parameters we aim to determine the fidelity boundary beyond which no more realism is necessary in simulation. Interaction pulling forces of four tissues have been characterized, which can constitute a basis for requirements of a FF algorithm. Results have also led to the hypothesis that surgeons are able to differentiate tissues and perceive somesthesic information although resulting interaction forces are of the same magnitude than interferences like trocar friction.
虚拟现实腹腔镜模拟器设计中最具争议的难题之一是力反馈（FF）的整合。这个问题通过一种实验设计来探讨，即外科医生评估四种不同组织的抗拉力，通过获取相互作用力来对这些组织进行表征。将主观评估与客观力参数进行比较，我们旨在确定逼真度边界，超过这个边界，模拟中就不再需要更高的真实感。已经对四种组织的相互拉动力进行了表征，这可为力反馈算法的要求奠定基础。结果还引出了一个假设，即尽管产生的相互作用力与诸如套管针摩擦等干扰力大小相同，但外科医生仍能够区分组织并感知躯体感觉信息。
