基于软组织形变力学信息虚拟手术力反馈过程仿真  

Virtual Surgery Force Feedback Process Simulation Based on Soft Tissue Deformation Biomechanical Information

作　　者：王沫楠[1] 王成友[1] 刘雨铭 李召[1] 

机构地区：[1]哈尔滨理工大学机器人研究所,哈尔滨150080

出　　处：《系统仿真学报》2015年第4期900-906,共7页Journal of System Simulation

基　　金：黑龙江省高校新世纪优秀人才培养计划(1251-NCET-006)

摘　　要：为了更好的实现对真实手术的力触觉模拟,利用质点弹簧模型建立了人体软组织的力学模型;应用四阶龙格库塔法解决了力学模型的计算问题;基于模块化设计思想完成了力反馈设备的设计;将力反馈设备通过ADAMS平台建模与力学算法程序相连接,实现了力学信息的传送过程和力反馈设备终端获取力学信息的模拟,该仿真对整个力反馈过程的进行实现了验证。仿真结果表明:力反馈设备可以实时获取力学信息。该项研究将虚拟现实与虚拟样机技术相结合,基于力反馈器虚拟设计实现力反馈过程的仿真模拟,为虚拟手术系统前期设计提供参考和设计依据。For human tissues biomechanical information was obtained from tissue biomechanical model by virtual environment, human soft tissue biomechanical model was developed based on mass-spring modeling method, the biomechanical model was solved by four-order Range-Kuttle method, haptic device was designed based on modularization. Force signal transmission process simulation and obtaining realized force on force feedback device end were completed by connecting virtual haptic device and biomechanical program in ADAMS software. The force feedback process was verified by simulation system. The results show that the haptic can get accurate realtime force information. The study accomplishes simulation of force feedback process based on haptic device design which gives some advice and bases to virtual surgery system pre-design.

关 键 词：软组织建模 质点弹簧模型 力反馈器 虚拟手术 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]