Yang Jing, Hu Ming, Shi Xinge, Zhao Deming, Yu Lingtao
Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, Zhejiang Province, China.
Henan Provincial People's Hospital, Zhengzhou, Henan Province, China.
Int J Comput Assist Radiol Surg. 2021 Feb;16(2):253-267. doi: 10.1007/s11548-020-02297-7. Epub 2021 Jan 6.
In this paper, a method for rapidly constructing a virtual surgical simulation system is proposed. A deformation model based on the mechanical properties of the liver and a rapid collision detection between the surgical micro-instruments and the liver tissue are included in this method. The purpose of this work is to improve the accuracy and real time of particle model deformation interaction in virtual surgery system.
Firstly, a finite element model is established based on the constitutive model parameters of liver tissue. According to the simulation results, a mathematical model of node displacement is established. Secondly, the virtual liver is established based on the fast model reconstruction method, and the virtual manipulator is controlled by Geomagic Touch manipulator. Based on the hybrid bounding box, a rapid collision detection process between the instrument and liver is realized and the proposed deformation method is used to simulate the deformation of liver tissue.
The simulation and experiment results show that the proposed deformation model can achieve high deformation interaction accuracy. The collision detection algorithm based on the hybrid bounding boxes can realize the collision between the liver and the instrument, and the established virtual surgical simulation system can simulate the liver tissue deformation in the case of small loading displacement.
The effectiveness of the collision detection algorithm and deformation model was verified by an established virtual surgery simulation system. The proposed rapid construction method of virtual surgical simulation is feasible.
本文提出一种快速构建虚拟手术仿真系统的方法。该方法包括基于肝脏力学特性的变形模型以及手术微型器械与肝脏组织之间的快速碰撞检测。这项工作的目的是提高虚拟手术系统中粒子模型变形交互的准确性和实时性。
首先，基于肝脏组织的本构模型参数建立有限元模型。根据仿真结果，建立节点位移的数学模型。其次，基于快速模型重建方法建立虚拟肝脏，并通过Geomagic Touch操纵器控制虚拟操纵器。基于混合包围盒，实现器械与肝脏之间的快速碰撞检测过程，并采用所提出的变形方法模拟肝脏组织的变形。
仿真和实验结果表明，所提出的变形模型能够实现较高的变形交互精度。基于混合包围盒的碰撞检测算法能够实现肝脏与器械之间的碰撞，所建立的虚拟手术仿真系统能够在小加载位移情况下模拟肝脏组织变形。
通过所建立的虚拟手术仿真系统验证了碰撞检测算法和变形模型的有效性。所提出的虚拟手术仿真快速构建方法是可行的。
