虚拟微创心脏手术中力觉信息的采集  

Collection of penetration force in simulated minimally invasive surgery

作　　者：马浩博[1] 赖芸[2] 谢叻[1] 申玉翠 

机构地区：[1]上海交通大学国家数字化制造技术中心,上海市200030 [2]上海交通大学实验室与设备处,上海市200240 [3]上海交通大学附属第一人民医院,上海市200240

出　　处：《中国组织工程研究与临床康复》2009年第26期5091-5093,共3页Journal of Clinical Rehabilitative Tissue Engineering Research

基　　金：国家高新技术研究发展计划项目资助(2006AA01Z310);国家自然科学基金项目(60873131);上海交通大学"医工(理)交叉研究基金"项目(YG2007MS34)~~

摘　　要：利用等强度梁和步进电机模拟真实手术中的穿透过程,针对心脏瓣膜微创手术进行了不同穿透速度的力采集实验,获得了虚拟手术中力反馈的真实信息,也为建立虚拟人手术专家系统提供了有效的数据。实验记录了穿透曲线,发现当穿透力高于10mm/s时心脏瓣膜的穿透力出现了峰谷交替出现的曲线;而低于这个速度时候并无明显的峰谷区别。还有一个明显的现象,穿透力随着穿透速度的增加而增加。实验数据为力反馈设备提供了实际的反馈曲线,并可以用于计算试验软组织对象的材料特性,为计算机仿真模拟提供材料参数。The penetration process of heart valve in minimally invasive surgery was simulated by using beams of constant strength and stepper motors, in which the real operation data of virtual surgery was recorded. The curve of continuous load versus time data for heart valve was obtained and showed that when the penetration force was 〉 10 mm/s, the alternative peak valley curve was observed, while no changes were found when the force was less than 10 minis. In addition, the turn of the emergence of wave crest and wave trough was obvious, the penetration force was increasing with velocity. The date can be used for calculating soft tissues material properties applied in computer simulation as parameters.

关 键 词：虚拟手术 力采集 穿透 材料特性 

分 类 号：R318[医药卫生—生物医学工程]