Analysis of the haptic collision and deformation of the blood vessel model for the microsurgery training system

As we know that MIS permits vascular interventions through very small incisions and minimizes the patients' trauma and permits a faster recovery compared. In this document, we present the mechanical and haptic simulation of the MIS VR operation training system. Virtual reality technology for doctors can improve the accuracy and safety of real vascular interventional surgery for vascular interventional surgery in local or remote training. It consists of a master controller system at surgery side and the catheter manipulator placed at the patient side. For the slave side Virtual Reality based Robotic Catheter System, we want to realize the 3D image and catheter control of the Virtual Reality System allows generating realistic geometrical model of catheter and model of blood vessels, and force feeling of surgeons. Finally, we complete the analysis and simulation of the model haptic deformation, develop the catheter control and mechanical design of the Virtual Reality based Robotic Catheter System and the experimental results show the mechanical and haptic analysis of the VR training system.