Development of an augmented reality force feedback virtual surgery training platform

In order to develop a virtual surgery training platform with a force feedback function so as to facilitate the training of new medical personnel, this study first had to establish a virtual environment, and then implement interactions involving vision and tactile sensations. The system's augmented reality function modules include the establishment of an augmented reality environmental space, image loading and model establishment, and force feedback modules, as well as the required design for collision detection, object parameter settings, and controller functions. Apart from combining a virtual environment with force feedback and establishing diverse force feedback modules, this project also overcomes the single-point sensor restriction of most force feedback hardware, and establishes a tactile cutting function. In addition to the establishment of force feedback modules, the project further employs the conservation of energy principle in the design of the energy estimator and controller, and completes the design of a stable virtual surgery training platform.