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血管介入手术中的柔性虚拟力触觉系统研究
引用本文:冯安洋,陈笋,陈柏,耿令波,吴洪涛.血管介入手术中的柔性虚拟力触觉系统研究[J].南京信息工程大学学报,2014(6):520-524.
作者姓名:冯安洋  陈笋  陈柏  耿令波  吴洪涛
作者单位:1. 南京航空航天大学 机电学院,南京,210016
2. 上海交通大学附属新华医院 儿科心脏中心,上海,200092
3. 中国科学院沈阳自动化研究所 机器人学国家重点实验室,沈阳,110016
基金项目:江苏省自然科学基金( BK2012798);江苏省产学研联合创新资金-前瞻性联合研究项目(BY2012011,BY2013003-10);国家自然科学基金(51075209);南京市科委产学研计划(201204014);上海市科委科技计划(124119A3900);上海交大医工交叉项目
摘    要:随着微创手术的发展,虚拟手术的应用前景越来越广阔.力反馈作为虚拟手术的核心技术,其实现的效果直接影响了虚拟手术的沉浸感.通过对经典包围盒碰撞检测算法进行研究比对,选择了球包围盒的碰撞检测算法,并建立了精确的反馈力计算模型,实现了介入血管中的柔性碰撞仿真.该仿真具有很高的实时性和精度.

关 键 词:虚拟现实  力反馈  柔性碰撞  实时性

Research of haptic virtual force system in soft vascular interventional surgery
FENG Anyang,CHEN Sun,CHEN Bai,GENG Lingbo,WU Hongtao.Research of haptic virtual force system in soft vascular interventional surgery[J].Journal of Nanjing University of Information Science & Technology,2014(6):520-524.
Authors:FENG Anyang  CHEN Sun  CHEN Bai  GENG Lingbo  WU Hongtao
Affiliation:FENG Anyang, CHEN Sun, CHEN Bai, GENG Lingbo, WU Hongtao (1.College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016 2 Cardiac Department of Shanghai Children's Medical Center, Xinhua Hospital Affiliated to Medical School of Shanghai Jiao Tong University, Shanghai 200092 State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016)
Abstract:With the development of minimally invasive surgery,virtual surgery has an increasingly broad application prospects.As the core technology of virtual surgery,force feedback directly affects the sense of immersion in virtual surgery.The classic bounding box collision detection algorithms are compared in this paper,and the sphere bounding box collision detection algorithm is then adopted.A precise force feedback model is established to simulate the flexible collision impact in vascular interventional surgery.The simulation is of high accuracy and real-time capability.
Keywords:virtual reality  force feedback  flexible collision  real-time
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