| 微创胆囊手术中胆囊管路松弛状态的仿真研究 |
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| 引用本文： | 付宜利,朴明波,王树国.微创胆囊手术中胆囊管路松弛状态的仿真研究[J].大连海事大学学报(自然科学版),2009,35(1). |
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| 作者姓名： | 付宜利 朴明波 王树国 |
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| 作者单位： | 哈尔滨工业大学,机器人研究所,哈尔滨,150001
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 为使利用虚拟现实技术进行的微创胆囊手术仿真更接近真实情况,给医生提供更好的沉浸感,建立了微创胆囊手术仿真所需的胆囊及其附属管路三维几何模型,并其赋予一定的力学性能.基于力平衡点合力为零的原理,提出一种求解力平衡的数值迭代算法.该算法使组成胆囊附属管路的球重心所受到的合力逐步趋近于零从而达到力平衡,并依据新的力平衡位置更新球间管的位姿产生图形反馈.实验证明,该算法可以根据精度需要求解出在力平衡时各个球重心的位置并进行相应的图形反馈,算法有效.
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| 关 键 词： | 微创手术 手术仿真 数值算法 力平衡 |
Simulation on loose state of the gallbladder and its accessory pipes in minimally invasive gallbladder resection |
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| FU Yi-li,PIAO Ming-bo,WANG Shu-guo.Simulation on loose state of the gallbladder and its accessory pipes in minimally invasive gallbladder resection[J].Journal of Dalian Maritime University,2009,35(1). |
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| Authors: | FU Yi-li PIAO Ming-bo WANG Shu-guo |
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| Institution: | FU Yi-li,PIAO Ming-bo,WANG Shu-guo(Robotics Institute,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | The 3-dimensional model of the gallbladder and its accessory pipelines for the minimally invasive gallbladder resection simulation was set up to make the minimally invasive gallbladder resection simulation closer to reality while providing doctors with the sense of immersion by using the virtual reality technology,and the mechanical parameters were endowed to the model.A numerical iterative algorithm was developed to compute the force balance based on the principle of resultant force on a balanced point bei... |
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| Keywords: | minimally invasive surgery surgical simulation numerical algorithm force balance |
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