摘要：A remote haptic collaboration system for lumbar puncture learning and training has been proposed. The study built a physical model for the simulation of interaction force between the needle and different tissues and developed a new protocol for real-time force feedback data transmission. Based on the processing delay and preprocessing interpolation, the negative effects on remote haptic perception caused by network communication can be reduced to a minimum. Experiments were carried out to justify the proposed method. The experimental results show that (1) our physical model agrees well with the reality lumbar puncture; (2) the integrity of received data has been ensured by means of interpolation preprocessing. Our system can provide a good realism and real-time stability for the remote learning and training of lumbar puncture teaching.
