本研究設計一套二維微創手術觸覺鉗系統重現真實微創手術鉗在夾取物件時操作者所感受的力量。首先藉由荷重元量測微創手術鉗於夾持物件的反力，並進行運動學分析推算出夾爪相對於握把端的力量關係式，再由曲線擬合獲得不同材質的反力方程式。接著將所獲得之方程式運用在微處理器對兩軸致動器進行扭矩控制，使系統產生相對應反力給與操作者，並藉由調整方程式參數或是增加阻尼項擬合各種可能的反力情況。同時在電腦端建立虛擬實境，使操作者在操作系統時，可透過視覺回授更深入手術情境中。最後本研究針對心理物理學中的韋伯定律進行探討，藉由進行人因實驗獲得本系統之最小可差覺，並分析最小可差覺對於本研究的影響。本研究所開發之系統除了可使操作者同步感受到觸覺與視覺的回饋，並可作為手術模擬訓練以及力反饋具現化良好的探討平台。

In this research we have designed a haptic surgical forceps system with two degree of freedom to reproduce the force felt by operator while gripping object using real minimally invasive surgery forceps. At first, we use load cell to measure the reaction force from surgical forceps when gripping objects. Second, kinematic analysis is performed to obtain the relationship between jaw and the grip end. The force equation with respect to the displacement is obtained for grasping different materials through curve fitting. Third, the curve fitted equation is applied to generate the required torque commands of the two axis motors so that the operator can feel its corresponding reaction force. Moreover, we can reproduce different types of reaction forces by changing parameters or adding the damping term to the force equation. Fourth, a virtual environment is constructed as a visual feedback interface in order to make operators feel more realistic in surgical operations. At last, we discuss our experiment data using Weber's law for psychophysical analysis. We can get just noticeable difference through some human factors experiments, and then discuss the influences of just-noticeable-difference in this study. In summary, the developed system which integrates force feedback and visual feedback can be applied as a good testing platform for surgical training simulation and further investigation for force rendering.

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