| 一种基于逐次逼近法求解软组织力平衡的方法 |
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| 引用本文： | 朴明波,付宜利,修立刚.一种基于逐次逼近法求解软组织力平衡的方法[J].机器人,2011(6):679-684. |
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| 作者姓名： | 朴明波 付宜利 修立刚 |
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| 作者单位： | 辽宁工程技术大学机械工程学院;哈尔滨工业大学机电工程学院;中国人民解放军装甲兵技术学院; |
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| 摘 要： | 进行腹腔微创手术操作时,为获得软组织变形的图形反馈,需要进行软组织的力平衡求解.建立了胆囊及其附属管路的几何模型,对其赋予弹簧一质点力学模型,提出了一种基于逐次逼近法的力平衡算法求解软组织力平衡.该算法编程量较少,易于实现,仿真实时性也较好.仿真实验表明,该算法可以产生较为真实的软组织图形反馈,可以实际应用于软组织仿真...
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| 关 键 词： | 力平衡求解 微创手术 软组织仿真 逐次逼近 图形反馈 |
An Algorithm for Computing Soft Tissue Force Balance Based on Successive Approximation |
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| PIAO Mingbo,FU Yili,XIU Ligang.An Algorithm for Computing Soft Tissue Force Balance Based on Successive Approximation[J].Robot,2011(6):679-684. |
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| Authors: | PIAO Mingbo FU Yili XIU Ligang |
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| Affiliation: | PIAO Mingbo~1,FU Yili~2,XIU Ligang~3 (1.School of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China,2.School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,3.Armored Force Technical School of PLA,Changchun 130117,China) |
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| Abstract: | The force balance of the soft tissue should be computed in the celiac minimally invasive surgery to get the graphic feedback of the soft tissue deformation.The geometrical model of gallbladder and its accessory ducts upon which the spring-mass mechanical model is bestowed is established,and a force balance algorithm based on successive approximation is presented to compute the soft tissue force balance.The algorithm is easy to implement,the programming workload is small,and the real-time performance is good... |
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| Keywords: | force balance computation minimally invasive surgery soft tissue simulation successive approximation graphic feedback |
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