Designing and Simulation of Electromagnetic Force Feedback Model Focusing on Virtual Interventional Surgery

In order to generate the haptic force real-timely and accurately in virtual vascular intervention,an electromagnetic force feedback model is designed based on magnetic levitation principle to create the circum-ferential rotation haptic force.By analyzing the magnetic field characteristics of the electrified coil and the op-eration pattern of the interventional surgery,firstly the topological structure of the electromagnetic coil array and the surgical instrument model are proposed.Then the optimal current allocation strategy for the coil array is suggested and verified by simulation.Finally,the torque-current prediction model is established by utilizing the model fusion method.The experiments show that the proposed model can calculate the current with 3%error and at a frequency of about 40 Hz.Combined with the optimal current allocation strategy,the crucial force feedback can be realized real-timely and accurately.