具有力反馈的耳显微外科虚拟手术研发  

An Ear Microsurgery Virtual Surgery System with Force Feedback Developed

作　　者：顾灵凯 谢叻 戴培东[3] GU Ling-kai;XIE Le;DAI Pei-dong(School of Biomedical Engineering,Shanghai Jiao Tong University,Shanghai 200030,China;School of Materials Science and Engineering,Shanghai Jiao Tong University,Shanghai 200030,China;Eye & Ent Hospital of Fudan University,Shanghai 200030,China)

机构地区：[1]上海交通大学生物医学工程学院,上海200030 [2]上海交通大学材料科学与工程学院,上海200030 [3]复旦大学附属眼耳鼻喉科医院,上海200030

出　　处：《计算机仿真》2019年第5期360-365,共6页Computer Simulation

基　　金：国家自然科学基金面上项目(61672341);国家自然科学基金重大项目课题(61190120,61190124);上海市科委项目(17441903800);国家863计划课题(2015AA043203)

摘　　要：针对传统耳显微外科手术训练的弊端,研发一套虚拟手术仿真系统,包含电子耳蜗植入术与镫骨手术。其中耳部器官模型在断层扫描的基础上,采用面绘制的技术获得,辅助以强制双面显示及半透明化功能,直观清晰地观察耳部器官内部结构。碰撞检测采用多层次混合包围盒树算法,软组织形变与力反馈计算模块基于改进的弹簧-质点建模方式,提出运用支撑骨架球模型进行软组织形变与基于各层形变区域面积的力反馈算法。仿真结果表明,系统具有良好的实时性、趣味性、准确性,与传统的手术训练相比,术前模拟训练后手术精确性得到显著提高。To overcome the traditional ear microsurgery training’s shortcomings,a virtual surgery simulation system is developed including the cochlear implant and tarsal surgery.The surface rendering technology based on the tomography obtained the ear organ model.Assisted by the mandatory double-sided display and the translucent function,it was more intuitive and clear to observe the ear’s internal organ structure.The collision detection adopted a multi-level hybrid bounding box tree algorithm.The force feedback calculation module was based on the improved spring-particle modeling method.It was proposed to apply the skeleton-supported spherical model to the soft tissue deformation algorithm and base the force feedback algorithm on the area of the deformed deformation region.Simulation results show that the virtual surgery system features low cost,high interest and strong robustness.Compared with the traditional surgical training,the surgery accuracy after the preoperative simulation training has been significantly improved.

关 键 词：虚拟手术 碰撞检测 软组织形变 力反馈 模拟训练 

分 类 号：R318[医药卫生—生物医学工程] TP391[医药卫生—基础医学]