[1]张小瑞,宋爱国,孙伟,等.支持力/触觉反馈的虚拟肝脏手术仿真系统[J].东南大学学报(自然科学版),2009,39(3):490-494.[doi:10.3969/j.issn.1001-0505.2009.03.014]
 Zhang Xiaorui,Song Aiguo,Sun Wei,et al.Virtual liver surgery simulation system supporting haptic feedback[J].Journal of Southeast University (Natural Science Edition),2009,39(3):490-494.[doi:10.3969/j.issn.1001-0505.2009.03.014]
点击复制

支持力/触觉反馈的虚拟肝脏手术仿真系统()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
39
期数:
2009年第3期
页码:
490-494
栏目:
计算机科学与工程
出版日期:
2009-05-20

文章信息/Info

Title:
Virtual liver surgery simulation system supporting haptic feedback
作者:
张小瑞 宋爱国 孙伟 李建清
东南大学仪器科学与工程学院, 南京 210096; 东南大学远程测控技术江苏省重点实验室, 南京 210096
Author(s):
Zhang Xiaorui Song Aiguo Sun Wei Li Jianqing
School of Instrument Science and Engineering,Southeast University, Nanjing 210096, China
Remote Measurement and Control Key Laboratory of Jiangsu Province,Southeast University, Nanjing 210096, China
关键词:
力/触觉人机交互 手术仿真 平行菱形链连接模型 虚拟现实
Keywords:
haptic human-machine interaction surgery simulation parallel rhombus-chain-connected model virtual reality
分类号:
TP391
DOI:
10.3969/j.issn.1001-0505.2009.03.014
摘要:
为提高支持力/触觉反馈的虚拟肝脏手术仿真系统的精度和实时性,提出了一种基于物理意义的平行菱形链连接变形模型.该模型中由于各个链结构单元中菱形的长度等比例变化,计算量小,改变链结构单元中菱形的长度和夹角就可方便地对不同的柔性体进行建模.同时还讨论了系统的结构设计、柔性体形变计算、快速碰撞检测和实时力/触觉反馈操作等.基于6-DOF Delta手控器建立试验平台,并结合力/触觉反馈计算实现了虚拟肝脏手术的拉拽、按压等变形仿真.实验结果表明,该系统力/触觉感觉平稳、模拟效果逼真,能够满足虚拟现实系统对精细作业和实时性的要求.建立简单逼真的物理变形模型和精确快速的碰撞检测算法,有助于提高虚拟肝脏手术仿真系统的性能.
Abstract:
In order to improve the precision and real-time performance of a virtual liver surgery simulation system with haptic feedback, a novel parallel rhombus-chain-connected deformation model based on physics is proposed. In this model because the rhombus in every chain structure unit are proportional in length and the calculation cost is less, deformation modeling is easier for different soft objects by only changing the length and angle of the rhombus. Moreover, system structure design, deformation calculation of soft tissue, fast collision detection and real-time force feedback operation are also discussed in detail. Surgery deformation of virtual liver such as stretching and pressing are simulated on the experimental platform based on a 6-DOF(degrees-of-freedom)delta hand controller by using the proposed deformation model and the force feedback algorithm. Experimental results show that the system can provide a stable force to the human operator without vibration, and they satisfy well the requirements of real-time performance and precision. Establishing a simple and lifelike physics deformation model and a precise and rapid collision detection algorithm favors the performance improvement of the virtual liver surgery simulation system.

参考文献/References:

[1] 谢叻,张艳,张天宇,等.虚拟手术中的力学变形和力觉感知[J].医用生物力学,2006,21(3):241-245.
  Xie Le,Zhang Yan,Zhang Tianyu,et al.Tissue deformation and haptic feedback in virtual operation[J].Journal of Medical Biomechanics,2006,21(3):241-245.(in Chinese)
[2] 周五一,方池华,黄立伟,等.肝脏管道灌注后数字化虚拟肝脏及其手术[J].第四军医大学学报,2006,27(8):712-716.
  Zhou Wuyi,Fang Chihua,Huang Liwei,et al.Digitized virtual liver and hepatic surgery after filling hepatic duct systems[J].Journal of the FourthMilitary Medical University,2006,27(8):712-716.(in Chinese)
[3] 谭珂,郭光友,潘新华,等.一种膝关节镜手术仿真系统[J].系统仿真学报,2007,19(20):4649-4653.
  Tan Ke,Guo Guangyou,Pan Xinhua,et al.Simulation system for arthroscopic knee surgery[J].Journal of System Simulation,2007,19(20):4649-4653.(in Chinese)
[4] Berkley J,Turkiyyah G,Berg D,et al.Real-time finite element modeling for surgery simulation:an application to virtual suturing [J]. IEEE Transactions on Visualization and Computer Graphics,2004,10(3):314-325.
[5] Hansen K V I,Brix L,Pedersen C F,et al.Modeling of interaction between a spatula and a human brain[J].Journal of Medical Image Analysis,2004,8(1):23-33.
[6] Castaneda M A P,Cosio F A.Deformable model of the prostate for TURP surgery simulation [J]. Journal of Computers and Graphics,2004,28(5):767-777.
[7] Kim Sang-Youn.Medical simulation with haptic and graphic feedback[M] // Lecture Notes in Computer Science.Berlin,Germany:Springer,2006,4091:171-178.
[8] Kim Sang-Youn,Kim Kyu-Young.Interactive racing game with graphic and haptic feedback[M] // Lecture Notes in Computer Science.Berlin,Germany:Springer,2007,4813:69-77.
[9] Ojima H,Nagase K,Hayakawa Y.Wave-based analysis and wave control of damped mass-spring systems[C] //Proceedings of the IEEE Conference on Decision and Control.Orlando,FL,USA,2001:2574-2579.
[10] 刘晓东,姚兰,邵付东,等.一种基于混合层次包围盒的快速碰撞检测算法[J].西安交通大学学报,2007,41(2):141-144.
  Liu Xiaodong,Yao Lan,Shao Fudong,et al.Fast collision detection algorithm based on mixed BVH[J]. Journal of Xian Jiaotong University,2007,41(2):141-144.(in Chinese)
[11] 王党校,张玉茹,姚冲.力反馈汉字书法模拟的任务规划和逼真度评价方法[J].系统仿真学报,2006,18(8):2307-2310.
  Wang Dangxiao,Zhang Yuru,Yao Chong.Task planning and fidelity evaluation in force enabled Chinese calligraphy simulation system [J].Journal of System Simulation,2006,18(8):2307-2310.(in Chinese)
[12] 黄通浪,唐敏,董金祥.一种快速精确的连续碰撞检测算法[J].浙江大学学报:工学版,2006,40(6):1051-1055.
  Huang Tonglang,Tang Min,Dong Jinxiang.Fast and accurate continuous collision detection between rigid bodies [J].Journal of Zhejiang University:Engineering Science,2006,40(6):1051-1055.(in Chinese)

备注/Memo

备注/Memo:
作者简介: 张小瑞(1979—),女,博士生; 宋爱国(联系人),男,博士,教授,博士生导师,a.g.song@seu.edu.cn.
基金项目: 国家重点基础研究发展计划(973计划)资助项目(2002CB312102)、国家高技术研究发展计划(863计划)资助项目(2006AA01Z329,2006AA04Z246)、国家自然科学基金资助项目(60775057,60675047).
引文格式: 张小瑞,宋爱国,孙伟,等.支持力/触觉反馈的虚拟肝脏手术仿真系统[J].东南大学学报:自然科学版,2009,39(3):490-494. [doi:10.3969/j.issn.1001-0505.2009.03.014]
更新日期/Last Update: 2009-05-20