手术仿真中基于导纳控制的力触觉形变模型

摘要

为了在虚拟手术仿真中获得快速、准确的力触觉形变效果,提出一种基于导纳控制的力触觉形变模型。基于该模型,采用PHANTOM OMNI力触觉交互设备,以3DS MAX 2013, Microsoft Visual C++2012, OpenGL函数库为基础搭建了实时柔性体力触觉再现系统,实现了虚拟双手对心脏双点的拉拽交互操作。感知实验和交互效率的结果表明,所提出的模型简单有效,形变效果逼真、视觉反馈流畅、力触觉反馈平稳,操作者对虚拟环境的感知和交互准确可靠,能够满足虚拟手术仿真系统的要求。%A haptic deformation model based on admittance control is proposed for rapid and accurate haptic deformation in virtual sugery simulation. Using the proposed model and two PHANTOM OMNI haptic in-teraction devices, a prototype system for real-time haptic soft tissue rendering is built upon 3DS MAX 2013, Microsoft Visual C++ 2012 and OpenGL, which supports interactive bimanual pulling operations on a vir-tual heart. It is shown from the perceptional experiments that the proposed model is simple and effective due to smooth visual feedback, stable haptic feedback and realistic deformation effects, and that the perception and interaction between the operator and virtual environment are accurate and reliable. The performance and accuracy of the deformation model are well balanced to satisfy basic requirements of virtual surgery.