随着生物医学及机器人技术在医疗领域的广泛应用，主从遥操作医疗机器人已经开始进入临床实验。项目以远程手术为应用背景，深入研究基于增强现实的主从遥操作手术机器人系统中的力反馈问题，旨在获得实时、准确、稳定的远程手术操作及高临场感触觉反馈。项目拟设计虚拟手术仿真系统的力反馈控制算法，使虚拟仿真系统在稳定的前提下输出最逼真的力反馈。为了提高整个主从遥操作手术系统的稳定性和透明性，设计主端滞后力反馈校正算法，对传递到主端的实际反馈力进行校正，再基于卡尔曼滤波算法将校正后实际力与虚拟仿真系统输出力进行融合，在触觉上实现增强现实。为了提高主端虚拟手术仿真模型的准确度，设计虚拟手术仿真模型实时更新算法，并完成实验验证相关算法。该研究能使一些原来在高水平大医院开展的治疗和手术可以在基层医院完成，具有重要社会需求。同时也可为其他领域遥操作研究提供理论指导。

With the wide application of biomedical technology and robot in the medical field, the tele-medical robot system has started clinical trials and become the important developing direction of the senior robots in the world. This project takes remote surgery as the application background, and studies the force feedback problems in tele-surgical robot system based virtual reality. The aim of the research is to obtain real-time, accurate, stable operations and high fidelity force feedback in tele-surgery. The project designs a force feedback algorithm for virtual surgery system to ensure the maximum fidelity under the premise of stability of virtual surgery system; The project designs force feedback output algorithm based on Kalman filter at the master side to ensure the stability and transparency of the tele-surgery system; The project designs the real-time update algorithm for virtual operation simulation model to enhance the accuracy and fidelity of virtual surgery system; Finally the project completes the experiments to verify the proposed algorithms. The research will bring important benefits to Chinese people because some of treatments and operations which used to be carried out only in high level hospitals can be done in small hospitals with the application of this research. The research also can provide theoretical guidance for the teleoperations of the other fields, such as space, deep sea and remote search.