Haptic Modeling and Rendering Based on Neurofuzzy Rules for Surgical Cutting Simulation  

作　　者：SONG Wei-Guo YUAN Kui FU Yu-Jin 

机构地区：[1]Institute of Automation, Chinese Academy of Sciences, Beijing 100080

出　　处：《自动化学报》2006年第2期193-199,共7页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of P. R. China (60273028)

摘　　要：This paper combines image processing with 3D magnetic tracking method to develop a scalpel for haptic simulation in surgical cutting. First, a cutting parameter acquisition setup is presented and the performance is validated from soft tissue cutting. Then, based on the acquired input-output data pairs, a method for fuzzy system modeling is presented, that is, after partitioning each input space equally and giving the premises and the total number of fuzzy rules, the consequent parameters and the fuzzy membership functions (MF) of the input variables are learned and optimized via a neurofuzzy modeling technique. Finally, a haptic scalpel implemented with the established cutting model is described. Preliminary results show the feasibility of the haptic display system for real-time interaction.This paper combines image processing with 3D magnetic tracking method to develop a scalpel for haptic simulation in surgical cutting. First, a cutting parameter acquisition setup is presented and the performance is validated from soft tissue cutting. Then, based on the acquired input-output data pairs, a method for fuzzy system modeling is presented, that is, after partitioning each input space equally and giving the premises and the total number of fuzzy rules, the consequent parameters and the fuzzy membership functions （MF） of the input variables are learned and optimized via a neurofuzzy modeling technique. Finally, a haptic scalpel implemented with the established cutting model is described. Preliminary results show the feasibility of the haptic display system for real-time interaction.

关 键 词：图象处理 模糊神经网络 切割模拟 触觉显示 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]