一种支持触觉反馈的膜组织变形仿真方法  

Method of Simulation for Membrane Tissue Deformation with Haptic Feedback

作　　者：鲍春波[1] 王博亮[2] 戴培山[3] 

机构地区：[1]大连理工大学计算机科学与工程系,辽宁大连116024 [2]厦门大学计算机科学系,福建厦门361005 [3]国防科学技术大学电子科学与技术系,湖南长沙410073

出　　处：《系统仿真学报》2007年第15期3463-3467,共5页Journal of System Simulation

基　　金：国家自然科学基金(60371012);福建省科技重点项目(2002Y021);厦门市科技计划重点项目(3502Z20041044)

摘　　要：针对一类面模型的软组织变形触觉仿真问题,提出了一种基于半边数据结构和AABBs(Aligned Axis Bounding Boxes)树结构混合的碰撞检测响应方法,命名为层次半边观察法,以适应触觉反馈计算的高帧率要求。触觉反馈仿真了膜组织的粘弹性力和粘滞性摩擦效果。粘滞性摩擦由修改的滞滑摩擦模型实现。膜组织的变形基于简单的质点弹簧模型建模。实验表明,提出的方法与单一的使用AABBs树结构方法相比,具有较高效率。记录的力反馈曲线清晰的反映了膜组织的粘滞性摩擦特征。该方法将是建立白内障虚拟手术仿真器的基础。A hybrid collision detect and response method named as hierarchy half-edge watching method was proposed, which was adapted to surface models of soft tissue based on half-edge data structure and hierarchies of axis-aligned bounding boxes （AABBs） to satisfy the higher frame rates in haptic feedback. The haptic feedback for membrane tissue consists of the visco-elastic force and sticking-sliding friction force. The friction was calculated by modified stick-slide model. The deformation of membrane soft tissue is based on mass spring model. The visual threading and haptic threading communicates each other in terms of a synchronizer. The experiment results show that the presented method is faster than AABBs method used solely. The character of the stick-slide friction is reflected by the chart of the recorded force feedback magnitude. The method is the base of the virtual surgery simulator in the cataract resection.

关 键 词：软组织变形 碰撞检测 半边结构 粘滞摩擦 触觉反馈 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]