Gobbetti E, Tuveri M, Zanetti G, Zorcolo A
Center for Advanced Studies, Research and Development, Sardinia, Uta, Italy.
Stud Health Technol Inform. 2000;70:96-8.
We have developed an experimental catheter insertion simulation system supporting head-tracked stereoscopic viewing of volumetric anatomic reconstructions registered with direct haptic 3D interaction. The system takes as input data acquired with standard medical imaging modalities and regards it as a visual and haptic environment whose parameters are interactively defined using look-up tables. The system's display, positioned like a surgical table, provide a realistic impression of looking down at the patient. Measuring head motion via a six degrees-of-freedom head tracker, good positions to observe the anatomy and identify the catheter insertion point are quickly established with simple head motion. By generating appropriate stereoscopic images and co-registering physical and virtual spaces beforehand, volumes appear at fixed physical positions and it is possible to control catheter insertion via direct interaction with a PHANToM haptic device. During the insertion procedure, the system provides perception of the effort of penetration and deviation inside the traversed tissues. Semi-transparent volumetric rendering augment the sensory feedback with the visual indication of the inserted catheter position inside the body.
我们开发了一种实验性导管插入模拟系统，该系统支持对头跟踪立体观察与直接触觉三维交互配准的体积解剖重建。该系统将通过标准医学成像模态获取的数据作为输入，并将其视为一个视觉和触觉环境，其参数使用查找表进行交互式定义。系统的显示器放置得像手术台一样，给人一种俯视患者的真实感。通过六自由度头部跟踪器测量头部运动，通过简单的头部运动可以快速确定观察解剖结构和识别导管插入点的良好位置。通过预先生成适当的立体图像并将物理空间和虚拟空间进行配准，体积出现在固定的物理位置，并且可以通过与PHANToM触觉设备直接交互来控制导管插入。在插入过程中，系统提供对穿过组织内部穿透和偏差力的感知。半透明体积渲染通过在体内插入导管位置的视觉指示增强了感官反馈。
