腹腔镜手术中软组织按压仿真  

Simulation of soft tissue pressing operation in laparoscopic surgery

作　　者：张小瑞[1,2] 段佳骊 孙伟[2] 朱利丰[3] 宋爱国[3] 

机构地区：[1]南京信息工程大学江苏省网络监控工程中心 [2]南京信息工程大学江苏省大气环境与装备技术协同创新中心 [3]东南大学仪器科学与工程学院

出　　处：《电子测量与仪器学报》2018年第7期21-28,共8页Journal of Electronic Measurement and Instrumentation

基　　金：国家“863”高技术研究发展计划(2013AA010803);国家自然科学基金(61502240,61502096,61304205,61203316);江苏省自然科学基金(BK20141002,BK20150634)资助项目

摘　　要：精确可靠的软组织变形模型对虚拟手术至关重要,针对现有模型的不足,提出了一种等节距圆锥形螺旋弹簧模型,模拟对腹腔镜手术中软组织的按压。该模型吸收了弹簧-质点模型计算快速的优点,通过变形截止层控制变形范围,提升模型的稳定性和精确度。为验证模型各方面性能,首先分别与有限元模型和真实软组织对比变形效果,然后记录力反馈输出与变形响应时间并与弹簧-质点模型比较,最后邀请受试者评分。实验结果表明,模型变形精度高,变形与力反馈输出响应时间均在20ms以下,且普遍低于弹簧-质点模型响应时间。在评分实验中本模型所模拟的3种软组织各指标均分分别为9.2、9.0和9.0,普遍高于其他模型均分。An accurate and reliable soft tissue deformation model is vital for virtual surgeries. In view of the shortcomings of existing models,a deformation model named equal-pitch conical coil spring model( EPCCSM) is presented to simulate the pressing on soft tissues in laparoscopic surgery. The proposed model leverages the advantage of mass-spring model( MSM) in quick computation,promotes system stability and accuracyby controlling deformation degree with the proposed cut-off layer. Firstly,the deformation effect is evaluated by comparing the force-deformation curves of the proposedmodel,finite element model( FEM),and real soft tissue. Secondly,haptic feedback output and deformation response time of the proposed model and MSM are compared. Finally,several participators are invited to score for the proposed EPCCM and other four existing models. Experimental results show that the proposed model has accurate deformation,with deformation and haptic response time is under 20ms,which is lower than that of mass-spring model. In the evaluation experiment,the average scores of the three kinds of soft tissues simulated by the proposedmodel are 9.2,9.0 and 9.0,which are higher than average scores of other models.

关 键 词：虚拟手术 软组织建模 力触觉反馈 变形仿真 腹腔镜手术 

分 类 号：R656[医药卫生—外科学] TP391.9[医药卫生—临床医学]