Bielser Daniel, Gross Markus H
Computer Science Department, ETH Zurich, Switzerland.
Stud Health Technol Inform. 2002;85:57-63.
The design of simulators for surgical training and planning poses a great number of technical challenges. Therefore the focus of systems and algorithms was mostly on the more restricted minimal invasive surgery. This paper tackles the more general problem of open surgery and presents efficient solutions to several of the main difficulties. In addition to an improved collision detection scheme for computing interactions with even heavily moving tissue, a hierarchical system for the haptic rendering has been realized in order to reach the best performance of haptic feedback. A flexible way of modeling complex surgical tools out of simple basic components is proposed. In order to achieve a realistic and at the same time fast relaxation of the tissue, the approach of explicit finite elements has been substantially improved. We are able to demonstrate realistic simulations of interactive open surgery scenarios.
用于手术训练和规划的模拟器设计面临着众多技术挑战。因此，系统和算法的重点大多放在限制更多的微创手术上。本文解决了更具普遍性的开放手术问题，并针对几个主要难点提出了有效的解决方案。除了用于计算与甚至剧烈移动组织相互作用的改进碰撞检测方案外，还实现了一种用于触觉渲染的分层系统，以实现触觉反馈的最佳性能。提出了一种用简单基本组件构建复杂手术工具的灵活方法。为了实现组织逼真且同时快速的松弛，显式有限元方法得到了大幅改进。我们能够展示交互式开放手术场景的逼真模拟。
