{"title":"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","authors":"Dan Luo, Yu Zhang, Jia Li, Jisheng Li","doi":"10.3233/JIFS-219024","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":44705,"journal":{"name":"International Journal of Fuzzy Logic and Intelligent Systems","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2021-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A study of real-time simulation of liver of virtual surgical robot based on biologically position-based dynamic model\",\"authors\":\"Dan Luo, Yu Zhang, Jia Li, Jisheng Li\",\"doi\":\"10.3233/JIFS-219024\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":44705,\"journal\":{\"name\":\"International Journal of Fuzzy Logic and Intelligent Systems\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2021-05-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Fuzzy Logic and Intelligent Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3233/JIFS-219024\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"COMPUTER SCIENCE, THEORY & METHODS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Fuzzy Logic and Intelligent Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3233/JIFS-219024","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, THEORY & METHODS","Score":null,"Total":0}
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.
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.