Kim Jung, Choi Changmok, De Suvranu, Srinivasan Mandayam A
School of Mechanical, Aerospace and Systems Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea.
Int J Med Robot. 2007 Jun;3(2):149-58. doi: 10.1002/rcs.140.
Real-time simulation of organ deformation is one of the biggest challenges in virtual surgery, due to the conflicting requirements of real-time interactivity and simulation realism. In this paper we propose a method to overcome this challenge by introducing a multi-resolution modelling technique.
In our approach a reasonably coarse global model is locally enhanced, using a mesh subdivision and smoothing algorithm. The global model is based on a discretization of the boundary integral representation of three-dimensional deformable objects. Local refinements are provided at the tool-tissue interaction region by a local subdivision technique.
As an example, we have developed a deformable human kidney model generated from the Visible Human Dataset, with tissue properties determined from in vivo animal experiments. A mixed reality laparoscopic surgical training system has been developed, using an abdominal mannequin and force feedback devices.
The use of precomputation and structural re-analysis techniques results in a very rapid computation procedure. Validation of the simulator is in progress.
由于实时交互性和模拟真实性的要求相互冲突，器官变形的实时模拟是虚拟手术中最大的挑战之一。在本文中，我们提出了一种通过引入多分辨率建模技术来克服这一挑战的方法。
在我们的方法中，使用网格细分和平滑算法对一个合理粗糙的全局模型进行局部增强。全局模型基于三维可变形物体的边界积分表示的离散化。通过局部细分技术在工具与组织相互作用区域进行局部细化。
例如，我们利用可视人数据集开发了一个可变形的人体肾脏模型，其组织特性由体内动物实验确定。使用腹部人体模型和力反馈设备开发了一个混合现实腹腔镜手术训练系统。
预计算和结构重新分析技术的使用导致了非常快速的计算过程。模拟器的验证正在进行中。
Zotero 插件