用于实时人机交互的增强力触觉模型  

Enhanced haptic model for real-time human-computer interaction

作　　者：张小瑞[1,2] 孙伟[1] 宋爱国[2] 李佳璐[2] 刘佳[1] 

机构地区：[1]南京信息工程大学信息与控制学院,南京210044 [2]东南大学仪器科学与工程学院远程测控技术江苏省重点实验室,南京210096

出　　处：《高技术通讯》2012年第3期299-304,共6页Chinese High Technology Letters

基　　金：863高技术计~1]（2008AA040202,2009AA012314,2009AA012311）,国家自然科学（61075068,60905045、51075198）和江苏省高校自然科学研究计划（09KJB460008,11KJB460006）资助项目.

摘　　要：为提高软组织变形仿真的精度与实时性，根据人机工程学的最新研究成果，提出了一种基于叠加白噪声的增强力触觉模型。该模型中每层各个弹簧变形量之和的叠加对外等效为软组织表面变形，与之相连的弹簧弹性力的合力等效为软组织表面接触力。利用力触觉交互设备构建了力触觉交互实验系统，实现了虚拟医用弯钳对胆囊按压以及虚拟医用直钳对心脏拉拽的手术仿真。实验结果表明：该模型不仅计算简单，而且能够保证变形计算具有较高精度；同时在交互过程中，力触觉感觉平稳、模拟效果逼真，满足虚拟手术仿真实时交互需要。To improve precision of the soft tissue deformation in a real-time simulation environment, this paper presents an enhanced haptic model with added white noise, based on the latest developments of ergonomics. The accumula- ted deformation from all springs in each layer of the model is equivalent to the deformation of the soft tissue surface, and the resultant force of each spring is equal to the external contact force. A haptic interactive system was estab- lished using a hand controller, in which operation simulations such as pressing the gallbladder using virtual curved forceps and stretching the heart using virtual straight clamp were implemented. The experimental results show that the proposed model has less computational cost while maintaining higher precision in deformation calculation. Fur- thermore, it can provide stable force and natural simulation effect to operators and satisfy the requirement of virtual operation in real-time interaction.

关 键 词：白噪声 软组织变形 手术仿真 人机交互 

分 类 号：TP11[自动化与计算机技术—控制理论与控制工程]