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Abstract

A method, apparatus and system for simulating force interaction between a bone drill and a skeleton applicable to the field of force interaction. The method comprises: detecting whether a collision takes place between a bone drill module (2) and a skeleton module (3) in real time; when a collision takes place, acquiring a movement speed and an autorotation speed of each collision point before the collision; calculating a movement speed and an autorotation speed of each collision point after the collision; removing a collision point having a separation speed with respect to the skeleton module (3) after the collision; calculating a resistance force and a frictional force on a collision point that is not removed at the time of collision according to the movement speeds and autorotation speeds before and after the collision and a method based on impulse theory; and synthesizing resistance forces and frictional forces of all collision points that are not removed into a resultant force to output same to a force feedback device. By using a method based on impulse theory to calculate a resistance force and a frictional force on a collision point that is not removed at the time of collision, force differences brought about by force interaction, such as grinding, among different bone drills and skeletons can be effectively reflected.

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First Claim