血管介入手术中的柔性虚拟力触觉系统研究

摘要

With the development of minimally invasive surgery,virtual surgery has an increasingly broad application prospects.As the core technology of virtual surgery,force feedback directly affects the sense of immersion in virtual surgery.The classic bounding box collision detection algorithms are compared in this paper,and the sphere bounding box collision detection algorithm is then adopted.A precise force feedback model is established to simulate the flexible collision impact in vascular interventional surgery.The simulation is of high accuracy and real⁃time capability.%随着微创手术的发展，虚拟手术的应用前景越来越广阔。力反馈作为虚拟手术的核心技术，其实现的效果直接影响了虚拟手术的沉浸感。通过对经典包围盒碰撞检测算法进行研究比对，选择了球包围盒的碰撞检测算法，并建立了精确的反馈力计算模型，实现了介入血管中的柔性碰撞仿真。该仿真具有很高的实时性和精度。