触觉虚拟手术系统中的混合碰撞响应

2007 6th International Special Topic Conference on Information Technology Applications in Biomedicine Pub Date : 2007-12-26 DOI:10.1109/ITAB.2007.4407362

Xiaobo Li, Lixu Gu, Shaoting Zhang, Jingsi Zhang, Guangchao Zheng

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引用次数: 1

摘要

碰撞响应是虚拟手术系统的重要组成部分，因为它需要实时响应和仿真的真实感。在本文中，我们提出了一种新的混合碰撞响应算法来产生平滑反馈力。该算法既吸收了三种传统方法的优点，又克服了它们的缺点。它还提供了一种产生合理反馈力的方法。经过碰撞响应处理后，反馈力在x、y、z维度上的方差分别从30026降至0.0003，从39095降至0.06，从5455降至0.008。结果表明，我们的方法可以用于触觉手术模拟器的实时响应和仿真真实感要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Hybrid Collision Response in a Haptic Virtual Surgery System

Collision response is an important component in a virtual surgery system, due to the requirements of realtime response and simulation realism. In this paper, we propose a novel hybrid collision response algorithm for generating a smooth feedback force. This algorithm takes the advantages of three traditional methods as well as gets rids of drawbacks of them. It also provides an approach to generate a reasonable feedback force. After collision response processing the variance of feedback force has been reduced from 30026 to 0.0003, form 39095 to 0.06 and from 5455 to 0.008 in x, y and z dimension respectively. The result shows that our methods can be used in a real-time response and simulation realism required haptic surgery simulator.

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2007 6th International Special Topic Conference on Information Technology Applications in Biomedicine

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