The present study proposes an advanced force display control system for a surgical training simulator with virtual reality. In oral and orthopedic surgeries, a surgeon uses a chisel and mallet for chiseling and cutting hard tissue. To enable the representation of force sensation for the chiseling operation in a virtual training simulator, the force display device has been constructed with the ball-screw mechanism to obtain high stiffness. In addition, two-degrees-of-freedom (2DOF) admittance control has been used to react instantaneously to the impactive force caused by pounding with the mallet. The virtual chiseling operation was realized by the force display device with a single axis in the previous studies. In the current study, we propose the design procedure for the force display control system with the 2DOF admittance control approach to virtual operation in three-dimensional space. Furthermore, we propose the design method for the PD controller with imperfect derivative using frequency characteristics for the 2DOF admittance control system. The efficacy of the proposed control system is verified through the virtual experience from manipulating the chisel using the developed force display device in the current study.

中文翻译：

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用于凿孔手术的外科训练模拟器中同时3轴平移运动的力显示控制系统

本研究为具有虚拟现实的外科手术训练模拟器提出了一种先进的力显示控制系统。在口腔和整形外科手术中，外科医生使用凿子和锤子凿凿和切割硬组织。为了能够在虚拟训练模拟器中显示凿削操作的力觉，力显示装置采用滚珠丝杠机构构建以获得高刚度。此外，两自由度 (2DOF) 导纳控制已被用于对锤击造成的冲击力做出即时反应。在以往的研究中，虚拟凿削操作是通过具有单轴的力显示装置来实现的。在目前的研究中，我们提出了力显示控制系统的设计程序，采用 2DOF 导纳控制方法在三维空间中进行虚拟操作。此外，我们提出了使用频率特性为 2DOF 导纳控制系统设计具有不完美导数的 PD 控制器的设计方法。通过使用当前研究中开发的力显示设备操纵凿子的虚拟经验，验证了所提出的控制系统的有效性。