虚拟手术仿真中的力反馈研究  

Research of Force Feedback Technology in Virtual Surgery Simulation

作　　者：祖超[1] 王博亮[1] 闵小平[1] 

机构地区：[1]厦门大学信息科学与技术学院,福建厦门361005

出　　处：《厦门大学学报（自然科学版）》2009年第1期31-35,共5页Journal of Xiamen University：Natural Science

基　　金：国家自然科学基金(60371012);福建省科技重点项目(2004Y008)资助

摘　　要：虚拟手术仿真是当前国际上生物医学工程领域研究的前沿课题.为了解决仿真中力反馈输出的稳定性和准确性问题,本文首先对基于OBB(Oriented bounding boxes)树结构的碰撞检测和响应进行了改进,改进后可以返回接触点位置和接触面的法向量.在此基础上,提出了一种二次检测的方法,大大减少了穿刺现象的产生;并采用同步机制对力的输出的稳定性进行改进,使力的输出更加稳定准确.最后的实验结果表明,改进后的算法在解决穿刺和稳定性方面有了较大的提高,使手术仿真中力的输出效果更加真实.Virtual surgery simulation is one of the current forefront topics in the field of international biomedical engineering research. In order to solve the stability and accuracy of force feedback output problems, the collision detection and response that based on the OBB （oriented Bounding boxes） tree structure were improved,and then the point of contact location and the vector of contact surface can be returned. On the bases, a twice detection method was proposed to improve the phenomenon of the force puncture,and a synchronize mechanism was adopt to improve the stability of the force output. At last, experimental results show that the improved algorithm has been enhanced in the force puncture and stability of the force so that the force effect is more authentic.

关 键 词：虚拟手术仿真 碰撞检测 穿刺现象 同步机制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]