基于改进弹簧振子模型的软组织形变仿真

研究虚拟手术中软组织形变的特定性优化问题。传统弹簧振子模型由于采用线弹力方程及显示欧拉积分法求解,导致的真实性低、计算复杂、实时性差的问题。为解决形变动特性问题,提出一种改进弹簧振子模型的形变方法,采用四面体网格弹簧振子模型进行建模,并通过定义质点间弹簧的非线性弹力方程以及作用于质点的体积力方程,来减弱超弹性现象的发生,提高真实性。模型求解时,采用一种改进显式欧拉积分的动态局部算法来求解形变方程。实验结果表明,所提算法提高了形变仿真的真实性、实时性和稳定性,可为软组织形变动态仿真系统的设计提供参考。     

虚拟牙齿矫正中牙龈变形的仿真研究

研究虚拟牙齿矫正系统,牙龈变形是开发虚拟牙齿矫正系统一个重要部分.传统的质点-弹簧模型无法实现抗弯曲变形效果,因此建立一种既能仿真拉伸变形又能实现抗弯曲变形效果的物理模型成为牙龈变形过程中亟待解决的难题.在分析质点-弹簧模型的基础上,提出并建立了一种针对软组织面模型变形的力学模型,用来解决牙龈变形问题.实验将变形的动态过程离散化,用迭代的方法求出所有牙龈质点变形的位移量.随着牙齿一步一步移动,用STL( Stereo Lithographic)文件构成的模型是由不规则三角面片组成的特点,绘制出一系列牙龈变形图像.实验结果表明方法有效,仿真效果逼真,适用于小范围移动的牙齿矫正手术方案参考.     

虚拟手术仿真中人体软组织形变技术的研究

对虚拟手术仿真中人体软组织形变技术进行深入研究,利用OpenGL三维图形标准建立了基于质点-弹簧物理模型的虚拟人体软组织形变系统。围绕虚拟手术仿真中人体软组织形变的逼真度和实时性两大要素展开研究,通过对比四边形网格结构提出了改进的基于质点-弹簧模型的正六边形几何拓扑结构,并对软组织形变动力学模型及其数值积分算法、软组织形变力反馈计算模型进行了讨论,针对以往的虚拟手术器械与软组织表面接触时作用点的最近邻质点求取算法存在的不足,提出了改进的求取算法。实验结果表明,改进的算法在模拟软组织形变时具有较好的稳定性和实时性。     

一种基于弹簧振子模型的颅面软组织仿真算法

软组织仿真研究是利用计算机技术对真实软组织进行模拟以便研究,为医学工作者提供辅助和帮助科研工作者更好地进行虚拟手术.这方面的研究在国外已经较为普及,在国内尚处于起步阶段.软组织仿真算法已有多种成熟模型,其中较为代表性的有弹簧振子模型(MSS)和有限元模型(FEM).在参阅了前人的研究基础上,选取了弹簧振子模型作为软组织仿真的物理形变模型,并对仿真算法进行编码和仿真实验,进而对实验效果进行分析,并提出改进之处.实验发现基于弹簧振子模型的软组织较好地实现了形变仿真的效果.     

耦合无网格迦辽金与质点弹簧实现软组织形变仿真

软组织形变仿真是虚拟手术系统的关键技术.针对目前软组织形变仿真方法存在的问题,基于黏弹性力学模型提出了无网格伽辽金(EFG)与质点弹簧(MS)耦合的软组织形变仿真方法.在手术区域即大变形和拓扑改变区域采用EFG,其他区域采用MS方法,2个区域之间建立过渡单元;在过渡单元内建立过渡节点,根据过渡节点必须满足位移和力平衡条件来实现2个区域的无缝耦合.对人体肝脏的形变仿真实验结果表明,该方法是有效的.     

一种基于弹簧振子模型的颅面软组织仿真算法

软组织仿真研究是利用计算机技术对真实软组织进行模拟以便研究,为医学工作者提供辅助和帮助科研工作者更好地进行虚拟手术。这方面的研究在国外已经较为普及,在国内尚处于起步阶段。软组织仿真算法已有多种成熟模型,其中较为代表性的有弹簧振子模型（MSS）和有限元模型（FEM）。在参阅了前人的研究基础上,选取了弹簧振子模型作为软组织仿真的物理形变模型,并对仿真算法进行编码和仿真实验,进而对实验效果进行分析,并提出改进之处。实验发现基于弹簧振子模型的软组织较好地实现了形变仿真的效果。     

改进的采用表面网格的弹簧振子模型

提出一种用于实时弹性形变模拟的弹簧振子模型.通过定义与模型对应的刚体核,并且向模型中添加一种新的广义弹簧,保持了与表面网格模型对应的几何体体积和形状等几何特征;采用形状匹配技术实现了整体性形变效果的模拟;最后使用逆向动力学方法对线弹性模型的"超弹性"现象进行修正.该模型可以对表面网格模型的弹性形变进行快速、逼真的模拟.     

一种用于软组织变形仿真的支撑球弹簧模型

基于经典的质点弹簧模型原理,提出一种用于软组织变形仿真的物理模型——支撑球弹簧模型。定义一系列具有质量、惯性以及体积特征的六自由度弹性支撑球,贴近软组织面模型下表面排布,支撑球之间由弹簧连接,共同构成软组织的支撑骨架来控制软组织的整体变形。软组织面模型的网格节点通过独立的弹簧与支撑骨架相连,当支撑骨架发生变形时将带动整个软组织发生变形。将此模型运用到角膜变形仿真中,获得了快速、稳定的变形效果,可进一步用于角膜虚拟手术。理论与实践均表明,该模型简单实用,效果良好。     

虚拟肩关节镜手术中软组织形变的模拟

为实现虚拟肩关节镜手术中软组织的形变模拟,提出一种改进的质点-弹簧模型.通过自适应采样及K阶最邻近节点快速查询算法,建立表面质点密度高而中心质点密度低的拓扑结构模型,在传统质点-弹簧形变模型的基础上,增加防止弹簧翻转的复原力,采用计算统一设备构架实现图形处理器的加速.模拟结果表明,该模型能够实现较真实的形变模拟.     

基于改进弹簧-质点模型的柔性绳索仿真

针对虚拟吊装训练系统中柔性绳索模拟仿真时存在的实时性、逼真程度较差等问题,基于物理建模提出了一种蜂窝状弹簧-质点模型应用于绳索形变仿真.该模型依据绳索细长、柔韧等特点,将传统正方形弹簧质点网格改进为蜂窝状弹簧-质点模型,其由多簇六边形立柱状弹簧-质点包围而成,绳索各部分质量均匀分布,质点间设置4种弹簧模拟绳索内部弯曲、扭转、拉伸等形变特性;为加快求解速度同时保证精度要求,使用改进的Verlet-梯形预测-校正法对数值计算进行求解.仿真结果表明,文中模型是可行的;数值计算结果表明,Verlet-梯形预测-校正法在效率、精度方面均优于其他数值计算方法.     

基于改进阈值函数的小波阈值去噪算法

针对传统小波软、硬阈值函数以及现有部分文献所设计的阈值函数的不足,探索一种改进的小波阈值去噪算法.通过构造新的阈值函数,该函数具有更好的平滑性,并随着小波分解尺度变化而变化,因此有更好的适应性,且函数中不存在不确定参数,相应地提升了去噪稳定性.相比传统软、硬阈值函数方法,采用改进阈值函数去噪后信噪比(SNR)更大,均方差(MSE)更小,去噪效果更好.改进阈值函数的小波去噪算法更有优越性,具有较好的推广价值.     

Real‐time haptic manipulation and cutting of hybrid soft tissue models by extended position‐based dynamics

This paper systematically describes an interactive dissection approach for hybrid soft tissue models governed by extended position‐based dynamics. Our framework makes use of a hybrid geometric model comprising both surface and volumetric meshes. The fine surface triangular mesh with high‐precision geometric structure and texture at the detailed level is employed to represent the exterior structure of soft tissue models. Meanwhile, the interior structure of soft tissues is constructed by coarser tetrahedral mesh, which is also employed as physical model participating in dynamic simulation. The less details of interior structure can effectively reduce the computational cost during simulation. For physical deformation, we design and implement an extended position‐based dynamics approach that supports topology modification and material heterogeneities of soft tissue. Besides stretching and volume conservation constraints, it enforces the energy preserving constraints, which take the different spring stiffness of material into account and improve the visual performance of soft tissue deformation. Furthermore, we develop mechanical modeling of dissection behavior and analyze the system stability. The experimental results have shown that our approach affords real‐time and robust cutting without sacrificing realistic visual performance. Our novel dissection technique has already been integrated into a virtual reality‐based laparoscopic surgery simulator. Copyright © 2015 John Wiley & Sons, Ltd.     

改进的小波双阈值双因子函数去噪

针对传统的小波阈值函数在阈值处不连续、小波估计系数存在偏差等不足,导致去噪后的信号产生吉布斯振荡、失真和信噪比(SNR)无法提高等问题,提出了一种改进的小波阈值函数去噪方法。与传统的软、硬阈值和半软阈值等函数相比,该函数不仅在阈值处连续,便于运算处理,而且由于双阈值变量和双可变因子的引入,使得该函数既兼容了传统阈值函数的优点,还可以通过调节双阈值和双因子,来提高实际应用的灵活性。为了验证该阈值函数的优越性,通过仿真实验并对比几种小波去噪方法的信噪比和均方根误差,实验结果表明,经本阈值函数去噪后的信号在平滑度和失真度上有较大改善,相比软阈值函数,信噪比提高了22.2%,均方根误差减小了42.6%。     

一种基于物理意义的快速力反馈形变模型及实时力觉响应算法

虚拟物体在受力作用时的形变建模是虚拟环境中力/触觉人机交互的关键.文中提出了一种新的基于物理意义的形变建模方法,不仅计算速度快,满足力反馈的实时性要求,而且能够同时保证接触力和形变的计算具有较高的精度,适用于具有较大变形量的柔性物体的力反馈计算,满足精细作业对虚拟现实系统的要求.     

基于动态阈值函数的改进小波包遥测信号去噪方法

通过遥测信号可以获取飞行器的工作状态和环境数据,为评定性能和故障分析提供依据。本文利用小波包变换能对高频信号分解的优点,针对传统小波包去噪方法的阈值函数在处理既含突变又含平滑信号的情形下,不能在保持良好信号边缘特性与消除恒定偏差的同时,又能避免出现信号原本没有的振荡的问题,提出一种基于动态阈值函数的改进小波包遥测信号去噪方法,通过量化当前处理信号的平滑程度和构造介于硬阈值函数和软阈值函数之间并可切换的动态阈值函数,跟随信号变化进行去噪处理。通过算例仿真分析,验证了本文方法在处理既含突变又含平滑信号时,比传统小波包法具有更好的去噪效果。     

基于残差收缩网络的关系抽取算法

An improved algorithm based on residual shrinkage network with soft threshold module was proposed to solve the problem of noise caused by interference between words within a sentence in relation extraction. Firstly, the threshold was trained in each feature channel of the residual network. The threshold had two characteristics： first, its absolute value would not be too large, if it was too large, effective information would be eliminated; second, the threshold had different results for different input training. Secondly, according to the characteristics of soft threshold, the channel features lower than the threshold were deleted, and those higher than the threshold were reduced. Compared with direct deletion of negative features, soft threshold was able to save useful information of negative features. Finally, an optimization model of attention module was added to reduce the influence of mislabeling problem in distant supervision. Piecewise Convolutional Neural Network （PCNN）, Bi-directional Long Short-Term Memory （BiLSTM） network and ordinary Residual Network （ResNet） were selected as baseline models for comparison experiments. Experimental results show that the precision-recall curves of the proposed model include the curves of other models and the F1 scores of the proposed model are increased by 6.0 percentage points, 3.9 percentage points and 1.4 percentage points respectively compared to the baseline models, which verifies that addition of soft thresholding network model can improve accuracy of relation extraction by reducing in-sentence noise.     

Load distribution to minimise pressure-related pain on foot: a model

The optimal force distribution to minimise pain or discomfort at the foot–shoe interface is still not known. Most shoe-related products attempt to distribute the load uniformly without much consideration to the bony and soft tissue regions. An experiment was conducted to first determine the pressure pain threshold (PPT) and tissue deformation on the plantar surface of the foot. Circular probes of areas 0.5, 1.0 and 2.0 cm² at indentation speeds of 0.5, 1 and 2 mm/s showed that PPT depends on the location stimulated, area of stimulation and the indentation speed. The results also showed that tissue stiffness is quite low for small deformations ( < 4 mm), but significantly higher at large deformations (>4 mm). The stiffness at the larger deformation region was positively correlated with PPT (r = 0.63, p < 0.001). The data were further used to develop a model with PPT, deformation and stimulated area.

Practitioner Summary: Pressure at which there is an onset of pain is higher when a larger area of soft tissue is stimulated. Bony areas may be better suited to bear load on smaller areas to minimise pressure-related pain. Thus, manipulating supporting surface stiffness and surface contours can help minimise pain.     

A new physical model with multilayer architecture for facial expression animation using dynamic adaptive mesh

This paper presents a new physically-based 3D facial model based on anatomical knowledge which provides high fidelity for facial expression animation while optimizing the computation. Our facial model has a multilayer biomechanical structure, incorporating a physically-based approximation to facial skin tissue, a set of anatomically-motivated facial muscle actuators, and underlying skull structure. In contrast to existing mass-spring-damper (MSD) facial models, our dynamic skin model uses the nonlinear springs to directly simulate the nonlinear visco-elastic behavior of soft tissue and a new kind of edge repulsion spring is developed to prevent collapse of the skin model. Different types of muscle models have been developed to simulate distribution of the muscle force applied on the skin due to muscle contraction. The presence of the skull advantageously constrain the skin movements, resulting in more accurate facial deformation and also guides the interactive placement of facial muscles. The governing dynamics are computed using a local semi-implicit ODE solver. In the dynamic simulation, an adaptive refinement automatically adapts the local resolution at which potential inaccuracies are detected depending on local deformation. The method, in effect, ensures the required speedup by concentrating computational time only where needed while ensuring realistic behavior within a predefined error threshold. This mechanism allows more pleasing animation results to be produced at a reduced computational cost.