基于生物位置动力学模型的虚拟手术机器人肝脏实时仿真研究

IF 1.5 Q2 COMPUTER SCIENCE, THEORY & METHODS
Dan Luo, Yu Zhang, Jia Li, Jisheng Li
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引用次数: 0

摘要

虚拟手术机器人可以对手术器械和人体器官进行精确建模,并逼真地模拟各种手术现象,如有机组织的变形,手术仿真系统可以为操作者提供可重复使用的虚拟训练和仿真环境。为了满足虚拟手术机器人对肝脏手术中软组织变形和手术模拟的真实性和实时性要求,提出了一种新的软组织变形模拟方法。该方法结合了弹簧力、系统外力和基于位置的动力学约束函数产生的约束力。在基于位置动力学的基础上,增加了改进的三参数质量-弹簧模型。在弹性力的计算中,引入了软组织的非线性和粘弹性,采用约束投影过程的联合力和基于位置的动力学约束力来修正质点运动。基于生物特性的位置动力学方法,既考虑了生物软组织作为有机聚合物的粘弹性、非线性、不可压缩性等生物力学特性,又保留了位置动力学方法的快速性和稳定性。通过仿真数据,得到了改进的三参数模型中四面体网格的最优边长,并对模型的物理性质进行了验证。利用Geomagic触控力反馈装置完成了肝脏等器官的实时仿真,验证了该方法的实用性和有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A study of real-time simulation of liver of virtual surgical robot based on biologically position-based dynamic model
Virtual surgery robot can accurately modeling of surgical instruments and human organs, and realistic simulation of various surgical phenomena such as deformation of organic tissues, surgery simulation system can provide operators with reusable virtual training and simulation environment. To meet the requirement of virtual surgery robot for the authenticity and real-time of soft tissue deformation and surgical simulation in liver surgery, a new method is proposed to simulate the deformation of soft tissue. This method combines the spring force, the external force of the system, and the constraint force produced by the constraint function of the position-based dynamics. Based on the position-based dynamics, an improved three-parameter mass-spring model is added. In the calculation of the elastic force, the nonlinearity and viscoelasticity of the soft tissue are introduced, and the joint force of the constraint projection process and the constraint force of the position-based dynamics is used to modify mass points movement. The method of position-based dynamics based on biological characteristics, not only considers the biomechanical properties of biological soft tissue as an organic polymer such as viscoelasticity, nonlinearity, and incompressibility but also retains the rapidity and stability of the position based dynamic method. Through the simulation data, the optimal side length of tetrahedral mesh in the improved three-parameter model is obtained, and the physical properties of the model are proved. The real-time simulation of the liver and other organs is completed by using the Geomagic touch force feedback device, which proves the practicability and effectiveness of this method.
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来源期刊
CiteScore
2.80
自引率
23.10%
发文量
31
期刊介绍: The International Journal of Fuzzy Logic and Intelligent Systems (pISSN 1598-2645, eISSN 2093-744X) is published quarterly by the Korean Institute of Intelligent Systems. The official title of the journal is International Journal of Fuzzy Logic and Intelligent Systems and the abbreviated title is Int. J. Fuzzy Log. Intell. Syst. Some, or all, of the articles in the journal are indexed in SCOPUS, Korea Citation Index (KCI), DOI/CrossrRef, DBLP, and Google Scholar. The journal was launched in 2001 and dedicated to the dissemination of well-defined theoretical and empirical studies results that have a potential impact on the realization of intelligent systems based on fuzzy logic and intelligent systems theory. Specific topics include, but are not limited to: a) computational intelligence techniques including fuzzy logic systems, neural networks and evolutionary computation; b) intelligent control, instrumentation and robotics; c) adaptive signal and multimedia processing; d) intelligent information processing including pattern recognition and information processing; e) machine learning and smart systems including data mining and intelligent service practices; f) fuzzy theory and its applications.
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