Basdogan C, Ho C H, Srinivasan M A, Small S D, Dawson S L
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge 02139, USA.
Stud Health Technol Inform. 1998;50:385-91.
Research in the area of computer assisted surgery and surgical simulation has mainly focused on developing 3D geometrical models of the human body from 2D medical images, visualization of internal structures for educational and preoperative surgical planning purposes, and graphical display of soft tissue behavior in real time. Conveying to the surgeon the touch and force sensations with the use of haptic interfaces has not been investigated in detail. We have developed a set of haptic rendering algorithms for simulating "surgical instrument--soft tissue" interactions. Although the focus of the study is the development of algorithms for simulation of laparoscopic procedures, the developed techniques are also useful in simulating other medical procedures involving touch and feel of soft tissues. The proposed force-reflecting soft tissue models are in various fidelities and have been developed to simulate the behavior of elastically deformable objects in virtual environments. The developed algorithms deal directly with geometry of anatomical organs, surface and compliance characteristics of tissues, and the estimation of appropriate reaction forces to convey to the user a feeling of touch and force sensations.
计算机辅助手术与手术模拟领域的研究主要集中在从二维医学图像构建人体三维几何模型、为教育及术前手术规划目的可视化内部结构，以及实时图形显示软组织行为。利用触觉接口向外科医生传递触觉和力觉尚未得到详细研究。我们开发了一套用于模拟“手术器械 - 软组织”相互作用的触觉渲染算法。尽管该研究的重点是开发用于模拟腹腔镜手术的算法，但所开发的技术在模拟其他涉及软组织触摸和感觉的医疗程序中也很有用。所提出的力反馈软组织模型具有不同的逼真度，旨在模拟虚拟环境中弹性可变形物体的行为。所开发的算法直接处理解剖器官的几何形状、组织的表面和顺应性特征，以及适当反作用力的估计，以向用户传达触觉和力觉感受。
