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血管介入手术中的柔性虚拟力触觉系统研究
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江苏省自然科学基金(BK2012798);江苏省产学研联合创新资金—前瞻性联合研究项目(BY2012011,BY2013003-10);国家自然科学基金(51075209);南京市科委产学研计划(201204014);上海市科委科技计划(124119A3900);上海交大医工交叉项目(YG2011MS08)


Research of haptic virtual force system in soft vascular interventional surgery
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    摘要:

    随着微创手术的发展,虚拟手术的应用前景越来越广阔.力反馈作为虚拟手术的核心技术,其实现的效果直接影响了虚拟手术的沉浸感.通过对经典包围盒碰撞检测算法进行研究比对,选择了球包围盒的碰撞检测算法,并建立了精确的反馈力计算模型,实现了介入血管中的柔性碰撞仿真.该仿真具有很高的实时性和精度.

    Abstract:

    With the development of minimally invasive surgery,virtual surgery has an increasingly broad application prospects.As the core technology of virtual surgery,force feedback directly affects the sense of immersion in virtual surgery.The classic bounding box collision detection algorithms are compared in this paper,and the sphere bounding box collision detection algorithm is then adopted.A precise force feedback model is established to simulate the flexible collision impact in vascular interventional surgery.The simulation is of high accuracy and real-time capability.

    参考文献
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    [8] 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 ZHANG Xiaorui,SONG Aiguo,SUN Wei,et al.Virtual liver surgery simulation system supporting haptic feed-back[J].Journal of Southeast University:Natural Science Edition,2009,39(3):490-494
    [9] Coldet-free 3D collision detection library[EB/OL].[2011-05-29]http://photoneffect.com/coldet/
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冯安洋,陈笋,陈柏,耿令波,吴洪涛.血管介入手术中的柔性虚拟力触觉系统研究[J].南京信息工程大学学报(自然科学版),2014,6(6):520-524
FENG Anyang, CHEN Sun, CHEN Bai, GENG Lingbo, WU Hongtao. Research of haptic virtual force system in soft vascular interventional surgery[J]. Journal of Nanjing University of Information Science & Technology, 2014,6(6):520-524

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  • 收稿日期:2013-10-07
  • 在线发布日期: 2014-12-24

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