虚拟手术中具备触觉功能的软组织交互技术

研究了虚拟手术中用户通过触觉设备与软组织进行交互操作的技术.所用触觉设备为Phantom Desktop,交互操作包括切割、触摸和抓取.为了克服用户手的颤抖产生的触觉反馈力振荡,切割中的反馈力使用代理的方法计算,反馈力由刀锋阻力和刀面约束力构成.触摸和抓取操作使用作用球的方法,根据作用球的入侵体积来计算作用力和反馈力,并使用力和力矩等效原则将作用力分解成顶点等效力.最后给出了使用虚拟肝脏模型进行交互操作的效果.

Soft Tissue Interaction with Haptics in Virtual Surgery

Soft tissue interaction with haptics in virtual surgery was investigated. Interaction operations included cutting,palpation and grasping. Phantom Desktop was used as haptic device. Proxy method was used to calculate haptic feedback force during cutting to overcome feedback force oscillation due to user hand trembling. The feedback force consisted of cutting resistance force and blade constraint force. For palpation and grasping,interaction force and feedback force were calculated according to volume of intersection between soft tissue object and an interaction sphere. The interaction force was decomposed into vertex forces using principles of equivalent force and moment. Finally results of interaction with a virtual liver model were given and the effects were discussed.