CN101404039A - Virtual operation method and its apparatus - Google Patents
Virtual operation method and its apparatus Download PDFInfo
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- CN101404039A CN101404039A CNA2008100270734A CN200810027073A CN101404039A CN 101404039 A CN101404039 A CN 101404039A CN A2008100270734 A CNA2008100270734 A CN A2008100270734A CN 200810027073 A CN200810027073 A CN 200810027073A CN 101404039 A CN101404039 A CN 101404039A
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Abstract
The invention discloses a method of a virtual surgery and a device thereof. The method comprises the following steps: a geometric model of a virtual surgical instrument is read, and an operation object model is generated based on imported operation object model files; the coordinate mapping of the virtual surgical instrument is established based on the corresponding relation between the geometric model and the virtual surgical instrument; the virtual surgical instrument and the operation object model are detected whether to have collision; if the virtual surgical instrument and the operation object model are detected to have collision, force feedback of the virtual surgical instrument is calculated based on a force feedback model of a mass point or the force feedback model of a virtual ball; meanwhile, the position information of the operation object model after collision is calculated; and the coordinate position of the operation object model is updated. The method of the virtual surgery and the device thereof can simulate the operation of various practical surgical instruments; moreover, an operator can obtain the timely force feedback of the virtual surgical instrument and visual feedback of the operation object model.
Description
Technical field
The present invention relates to medical domain, particularly a kind of method of virtual operation and device thereof,
Background technology
Development of modern science and technology more and more embodies intersection and the infiltration between multidisciplinary.For example virtual reality is the product by computing machine and electronic technology combination, it is a simulated environment very true to nature, by multiple sensing equipment, the user can be according to the sensation of self, end user's natural technical ability is investigated and is operated the object in the virtual world, directly perceived and natural real-time perception such as looking, listen, touch is provided simultaneously, and makes the participant produce interactive immersion.Virtual reality is in application on medical field, the research direction that virtual operation is become growing up, as virtual operation is to utilize various medical image datas and virtual reality technology to set up a virtual environment, and the doctor is by the virtual environment plan of undergoing surgery, training etc.Virtual operation can help the doctor to formulate operation plan; Also can repeat exercise, reduce the operative training expense, shorten and cultivate the surgical cycle.Virtual operation has low-cost, is free from risk, multiple renaturation, the advantage that instructs automatically, and training has great importance for medical surgery.
Comprise two feedbacks in the virtual operation process, visual feedback and force feedback, visual feedback is meant the visual simulating operation of observing operating theater instruments by display, and force feedback is meant that the operator passes through the physico mechanical characteristic of interactive device perception virtual operation instrument.Number of patent application is 02118522.0, the name be called analog scalpel unit patent disclosure a kind of analog scalpel unit, comprise microcontroller and scalpel, force transfering device is connected between scalpel and the proportion electro-magnet, is used to transmit the driving force that proportion electro-magnet provides; Back-moving spring is connected on the force transfering device two ends; The force transducer that is positioned on the scalpel handle of a knife detects the power that scalpel makes progress; The position of two-dimensional tracking Equipment Inspection scalpel and the attitude of scalpel.But this analog scalpel unit can not be applicable to the operation of surgical scissors.
Number of patent application is 200510027052.9, the name be called the multifunctional virtual surgical operating instrument patent disclosure a kind of medical training apparatus, this technical scheme is that column is fixed on the base, one angular displacement sensor is arranged on the end of column, pivoted arm links to each other by this angular displacement sensor with column, one angular displacement sensor is set on the pivoted arm, rotating cylinder links to each other with pivoted arm by this angular displacement sensor, linear displacement transducer links to each other with rotating cylinder, the end of linear displacement transducer is provided with shaft coupling, one angular displacement sensor is arranged in the shaft coupling, connecting cylinder links to each other with this angular displacement sensor, an angular displacement sensor is inserted in the rear end of connecting cylinder, one scissors handle is fixed on the connecting cylinder, and another scissors handle links to each other with an angular displacement sensor, and each sensor is connected to data collecting card by terminal strip, this medical training apparatus can be gathered the information of the spatial movement of operating theater instruments, simulates the operational movement of multiple operating theater instruments.But the medical surgical instrument in this patent does not possess force feedback function, can not bring the feedback of sense of touch to the operator.
Summary of the invention
The invention discloses a kind of method and device thereof of virtual operation, it can realize in good time force feedback and visual feedback, can also simulate the operation of multiple operating theater instruments.
Technical scheme of the present invention is: a kind of method of virtual operation, may further comprise the steps,
Step 2, set up the coordinate Mapping of described geometric model and described operation object model;
When described virtual operation instrument analog crossover shape operating theater instruments, whether whether the point of crossing correspondence of the particle of described virtual operation instrument and cross-like geometric model, the minor increment of being had a few to the tri patch of described operation object model according to described point of crossing detect described virtual operation instrument less than described point of crossing to the distance on the summit of described cross-like geometric model and bump with described operation object model;
If step 4 detects described virtual operation instrument and described operation object model bumps;
When described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, detect the coordinate figure of summit before and after collision of described penholder shape geometric model, and connect into the track line segment, calculate the vector value of this track line segment in level and vertical direction, determine that according to the resistance stiffness coefficient of cutting and constraining force stiffness coefficient described operation object model is to the cutting resistance of described virtual operation instrument and the described operation object model constraining force to described virtual operation instrument again, at last determine the force feedback of described virtual operation instrument, and feed back to the operator according to described cutting resistance and constraining force; Perhaps,
When the operating scissors in the described virtual operation instrument analog crossover shape operating theater instruments are operated, detect in the described operand tri patch that the geometric model with described operating scissors bumps, determine the flexible strategy on each summit in this tri patch, and determine in the tri patch displacement before and after each summit collision according to these flexible strategy, upgrade the coordinate position on each summit of described tri patch according to this displacement, simultaneously determine the force feedback of described virtual operation instrument, and feed back to the operator according to this displacement.
A kind of device of virtual operation comprises, the model generation module is used to read the geometric model of virtual operation instrument, according to the operation object model file generating run object model that imports;
Coordinate Mapping is set up module, is used to set up the coordinate Mapping of described geometric model and described operation object model;
Detection module, be used for when described virtual operation instrument simulation penholder shape operating theater instruments is operated, the summit correspondence of the particle of described virtual operation instrument and penholder shape geometric model is according to the summit of described penholder shape geometric model whether detecting described virtual operation instrument in the plane at the tri patch place of described operation object model and whether described operation object model collides; Perhaps,
When described virtual operation instrument analog crossover shape operating theater instruments, whether whether the point of crossing correspondence of the particle of described virtual operation instrument and cross-like geometric model, the minor increment of being had a few to the tri patch of described operation object model according to described point of crossing detect described virtual operation instrument less than described point of crossing to the distance on the summit of described cross-like geometric model and bump with described operation object model;
The force feedback computing module, be used for when detecting described virtual operation instrument and described operation object model bumps, and when described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, detect the coordinate figure of summit before and after collision of described penholder shape geometric model, and connect into the track line segment, calculate the vector value of this track line segment in level and vertical direction, determine that according to the resistance stiffness coefficient of cutting and constraining force stiffness coefficient described operation object model is to the cutting resistance of described virtual operation instrument and the described operation object model constraining force to described virtual operation instrument again, at last determine the force feedback of described virtual operation instrument, and feed back to the operator according to described cutting resistance and constraining force; Perhaps,
When the operating scissors in the described virtual operation instrument analog crossover shape operating theater instruments are operated, detect in the described operand tri patch that the geometric model with described operating scissors bumps, determine the flexible strategy on each summit in this tri patch, and determine in the tri patch displacement before and after each summit collision according to these flexible strategy, upgrade the coordinate position on each summit of described tri patch according to this displacement, simultaneously determine the force feedback of described virtual operation instrument, and feed back to the operator according to this displacement.
The method of virtual operation of the present invention and device thereof, at different virtual operation instruments the different collision checking methods and the computing method of force feedback are arranged, when the operation of virtual operation instrument simulation penholder shape virtual operation instrument, the particle of this virtual operation instrument is corresponding with the summit of described penholder shape virtual operation instrument, determines the force feedback of described penholder shape virtual operation instrument by the coordinate information that obtains these collision front and back, summit; When described virtual operation instrument is simulated described cross-like virtual operation instrument, the particle correspondence of described virtual operation instrument and the point of crossing of cross-like virtual operation instrument, detect the tri patch that bumps with described cross-like operating theater instruments in the described operation object model to the distance between the operation object model according to the point of crossing like this, calculate the displacement before and after each summit collision in the tri patch, can determine the force feedback of described virtual operation instrument according to this displacement; This shows that the present invention not only can simulate penholder shape operating theater instruments and comprise scalpel, sewing needle etc., the operation of all right analog crossover shape virtual operation instrument such as operating scissors, and can calculate the force feedback of described virtual operation instrument and in good time feed back to the operator, bring in good time tactile feedback to the operator.
Description of drawings
Fig. 1 is the method flow diagram of virtual operation of the present invention;
Fig. 2 is the synoptic diagram of force feedback that the present invention is based on the force feedback Model Calculation penholder shape operating theater instruments of particle;
Fig. 3 is the deformation analysis synoptic diagram that the present invention is based on the force feedback model of particle;
Fig. 4 is the synoptic diagram that the present invention is based on the force feedback model of virtual ball;
Fig. 5 is the local coordinate synoptic diagram that the present invention is based on the force feedback model collision detection intermediate cam dough sheet of virtual ball;
Fig. 6 is the analysis synoptic diagram of subpoint and tri patch during the force feedback model collision that the present invention is based on virtual ball detects;
Fig. 7 is the device synoptic diagram () of virtual operation of the present invention;
Fig. 8 is the device synoptic diagram (two) of virtual operation of the present invention;
Fig. 9 is the device synoptic diagram (three) of virtual operation of the present invention.
Embodiment
With specific embodiment the present invention is done a detailed elaboration with reference to the accompanying drawings below.
The method of virtual operation of the present invention is to come operating theater instruments method of operating that is virtually reality like reality with a kind of virtual operation instrument, described virtual operation instrument can the sham operated cutter, the operation of sewing needle, operating scissors and operating forceps, in one embodiment, virtual operation instrument can adopt the PHANToM Desktop force feedback equipment of SensAble Technologies company, the operation that comes sham operated cutter, sewing needle, operating forceps and operating scissors by PHANToM Desktop force feedback equipment.
Fig. 1 is the process flow diagram of virtual operation of the present invention, and it comprises:
S101, read the geometric model of virtual operation instrument, according to the three dimensional object model file generating run object model that imports.
This step is to realize described geometric model and described operation object model are shown on display, brings good visual feedback to the operator.In one embodiment, before this step, can also comprise step, measure the actual outer dimensions of apparatus (scalpel, operating scissors, operating forceps, sewing needle etc.) commonly used in the operation; Set up the geometric model of these operating theater instruments then with three-dimensional picture software; And these geometric models are stored as the 3DS form.Because operating theater instruments is a rigidity, its concrete shape is fixed, so can directly call the geometric model of required operating theater instruments when the operator needs in the present invention.Described operation object model is the target object that operating theater instruments will be operated, and its three dimensional object model file is the editing files of these operation object model, and calling this document can the generating run object model.In the present invention, described target object and described geometric model adopt the triangular plate model description.
S102, set up the coordinate Mapping of described geometric model and described operation object model.
By setting up the co-ordinate position information of obtaining described geometric model and operation object model that coordinate Mapping can be real-time, in one embodiment, when the such penholder shape operating theater instruments of described virtual operation instrument sham operated cutter or sewing needle, the summit correspondence of the particle of described virtual operation instrument and described geometric model; When described virtual operation instrument sham operated is cut or operating forceps is such cross-like operating theater instruments, the point of crossing correspondence of the particle of described virtual operation instrument and described geometric model, the centre of sphere P of virtual ball is corresponding to the point of crossing of cross-like virtual operation instrument as shown in Figure 4.At virtual operation instrument is among the embodiment of PHANToM Desktop force feedback equipment, virtual operation instrument has the input of 3 translations and 3 rotary freedoms, and can produce the feedback force of 3 degree of freedom, the operator controls input by the operation virtual operation instrument, described geometric model can be according to the input of virtual operation instrument and corresponding motion, the coordinate Mapping of described virtual operation instrument can be described with a matrix M, and this matrix is made of rotation and translation, and is as follows:
Wherein t is the particle postition coordinate of virtual operation instrument, and r has described the sense of rotation of virtual operation instrument particle; The visual feedback coordinate Mapping, promptly operator's viewing coordinates is mapped as: L=M
T(CSRMC ')
Wherein, C is the conversion of a center rotation of matrix M, and C ' is the reverse center translation of matrix M, and S, R and T are respectively the convergent-divergents of matrix M, rotation and translation matrix.
Whether S103, the described virtual operation instrument of detection and described operation object model collide.
When operating at the different operating theater instruments of virtual operation instrument simulation, its corresponding collision detection is different; Be that example illustrates the collision that how to detect described virtual operation instrument and described operation object model just wherein with the most frequently used and crucial operating theater instruments such as scalpel, sewing needle, operating scissors and operating forcepses.When the such penholder shape operating theater instruments operation of virtual operation instrument sham operated cutter and sewing needle, employing comes collision detection based on the force feedback model of particle, whether whether promptly detect described summit detects the particle of described virtual operation instrument and bumps with described operation object model in the tri patch of operation object model, the particle of virtual operation instrument is corresponding to the summit of described geometric model at this moment, in one embodiment, according to following condition
(P (t)-V
1(t)) ((V
2(t)-V
1(t)) * (V
3(t)-V
1(t)) particle and the described operation object model that)=0 detect described virtual operation instrument bump;
Wherein, P be the particle of virtual operation instrument at t coordinate constantly, V1, V2, V3 are that three summits of the tri patch in operation object model surface are at t coordinate constantly.After detecting described virtual operation instrument and described operation object model and bumping, can also feed back to the operator to the collision result by certain way.
For operating scissors and the such operating theater instruments of operating forceps, employing comes collision detection based on the force feedback model of virtual ball, as shown in Figure 4, A represents the cross-like virtual operation instrument, θ is the angle of the crossing, the centre of sphere P of virtual ball is the point of crossing of cross-like virtual operation instrument, and corresponding to the particle P of virtual operation instrument, the radius r of virtual ball is the distance of the centre of sphere to the summit of virtual operation instrument.The collision detection of the operation object model of forming for virtual ball with by triangular plate can be reduced to the crossing detection of spheroid and triangular plate.In one embodiment, can collide at first roughly, accurately detect again.
At rough detection-phase, at first set up the x ' y ' z ' of local coordinate system, as shown in Figure 5 to tri patch.This system is initial point with P0, and n is the direction of z ' axle, and P0P1 is the direction of x ' axle.Suppose that u is the vector of unit length of x ' direction, v is the vector of unit length of y ' direction, then has:
U＝P
1-P
0，V＝P
2-P
0，N＝U×V，u＝U/|U|，n＝N/|N|，v＝n×u
Calculate the symbolic distance h of S to tri patch:
h＝(S-P
0)·n
If | h| 〉=r then spheroid and plane, tri patch place are non-intersect, therefore and tri patch also non-intersect.
Otherwise begin to enter the accurate collision detection stage, concrete grammar is as follows:
1, calculates the minor increment d that is had a few on S and the tri patch
MinAt first S is projected on the plane of tri patch, subpoint Sp is:
S
p＝S-hn
2, on the plane of tri patch, Sp may drop on one of 7 zones, as shown in Figure 6:
For each zone, its d
MinValue as follows:
Zone (1), d
Min=| h|.
Zone (2),
d
0＝|S
p-P
0|。
Zone (3),
d
1＝|S
p-P
1|。
Zone (4),
d
2＝|S
p-P
2|。
Zone (5),
D12 is the distance of Sp and P1P2.
Zone (6),
D20 is the distance of Sp and P2P0.
Zone (7),
D01 is the distance of Sp and P0P1.
If 3 d
Min〉=r then spheroid and tri patch is non-intersect, and promptly described virtual operation instrument and described operation object model do not bump, otherwise the two collision.
If S104 detects described virtual operation instrument and described operation object model bumps, then according to the force feedback of the described virtual operation instrument of force feedback Model Calculation of the force feedback model of particle or virtual ball.
Operating theater instruments for the penholder shape, such as scalpel or sewing needle, the present invention adopts the force feedback model based on particle to calculate, as shown in Figure 2, the force feedback of virtual operation instrument acts on the particle P of virtual operation instrument, it is made up of two parts: the one, and soft tissue is to the resistance Ft of virtual operation instrument cutting, and this power is in the plane at described virtual operation instrument place, and is opposite with the virtual operation instrument travel direction; The 2nd, soft tissue is to the constraining force Fn of virtual operation instrument, and this power is vertical with the plane at virtual operation instrument place, plays the effect that the constraint virtual operation instrument moves in the plane, place.
The calculating of force feedback is to calculate according to the relative position before and after the particle collision of virtual operation instrument, specifically is calculated as follows:
D＝R-P，D
n＝(D·n)n，D
t＝D-D
n
F＝F
n+F
t，F
t＝k
cuttingD
t，F
n＝k
constraintD
n
Wherein P is the coordinate of the particle correspondence of virtual operation instrument, and R is the coordinate of the particle after virtual operation instrument and described operation object model bump, and F is the force feedback of virtual operation instrument, k
CuttingBe the resistance rigidity of cutting, k
ConstraintBe constraining force rigidity; R is the coordinate position after the virtual operation instrument collision.
For the operating theater instruments of cross-like,, adopt force feedback model to calculate based on virtual ball such as operating scissors and operating forceps.The clamp operation of virtual operation pincers is exactly that simulated operator uses tweezers or pliers to clamp and drag the process of a soft tissue surfaces part.When clamp begins, find out in the tri patch that all and virtual ball intersect and tri patch that centre of sphere distance is the shortest, the virtual operation pincers are implemented the clamps operation to three summits of this tri patch then.S
0Be the centre of sphere of clamp virtual ball when beginning, V
0Be the summit of nearest tri patch, the gripping external force that act on this summit this moment is F
0, the virtual ball centre of sphere moves to the S position in clamp operation back, and the summit moves to V, and the external force that acts on the summit becomes F, and crawled summit should be followed virtual ball and be moved, the relative distance that is maintained fixed with the centre of sphere of virtual ball, so the summit should move to (S+V
0+ S
0) position; The scale-up factor of force feedback this moment is k
Grasping, the force feedback that virtual operation instrument is subjected to is:
F＝F
0+k
grasping(S+V
0-S
0-V)
Wherein, S
0The coordinate of the centre of sphere of virtual ball when being virtual operation pincers beginning clamp, V
0Be the apex coordinate of the nearest tri patch of the centre of sphere of the corresponding geometric model middle distance virtual ball of virtual operation pincers, the external force that act on this summit this moment is F
0, the sphere centre coordinate of clamp operation back virtual ball moves to S, summit V
0Move to V.
Virtual operation is cut, and to wipe out operation different with the gripping of virtual operation pincers, wipes out after operation finishes, and operation object model has fraction and recovers distortion.When wiping out beginning, need find out and act on all tri patchs that ball intersects, then these tri patchs be removed shifting function.
Remove the size of displacement for tri patch, relevant with the area ratio of its tri patch and projection circle.By the calculating in the above-mentioned collision detection, the center of circle of projection circle is Sp as can be known, and radius is
Secondly, suppose that the summit of plane trigonometry dough sheet is (x0, y0), (x1, y1) and (x2, y2), then its area A can be calculated according to following formula:
It is a variety of to consider on the plane that circle and leg-of-mutton crossing situation have, and wipes out the position on each new summit of triangle, back for simulation more accurately, each summit is provided with flexible strategy X here, and flexible strategy are high more, and its degree of depth of wiping out is big more, as follows:
Wherein, r is the radius of virtual ball, i.e. point of crossing distance to the limit, and h is the distance of the centre of sphere of virtual ball to tri patch, Xi is the flexible strategy of summit i; ∑ A
iBe in the triangular plate that intersects with virtual ball, contain the area sum of all triangular plates of summit i; N is the normal vector of triangular plate, l
iIt is the displacement on new summit.Also to upgrade the coordinate Mapping of described operation object model simultaneously according to the displacement on the new summit of calculating.
The scale-up factor of force feedback is k
Extering, then the suffered force feedback of virtual operation instrument is:
F＝k
extering∑l
i
Because operation object model has corresponding deformation reflection behind simulated operation, in order to bring real-time visual feedback, the present invention can also comprise step S105 to the operator, to calculate the positional information of described operation object model after collision; And, upgrade the coordinate Mapping of described operation object model according to the positional information that calculates.
When the such penholder shape operating theater instruments of virtual operation instrument sham operated cutter or sewing needle, as shown in Figure 2, when the size of cutting resistance Ft greater than some fixed value F
CuttingThe time, corresponding deformation will take place in operation object model, and new position R ' is:
R′＝R-D
t+dt
Wherein, d=F
Cutting/ k
Cutting, t=D
t/ | D
t|
At this moment, distortion has taken place in operation object model under the effect of virtual operation instrument.Wherein, with virtual operation instrument mutual tri patch taking place divides a R '.For the virtual operation instrument based on particle, the external force that R ' place is subjected to is converted to the summit power of triangular plate, as shown in Figure 3, three summits supposing tri patch are P0, P1, and P2, the summit power that is applied to it is respectively F0, F1, and F2, at this moment, summit P0, P1, the position of P2 also is moved, and the present invention adopts the equivalent mobile method of distance, and promptly the displacement on summit and R are linear to the displacement of R ', direction in the same way, the computing formula of its summit reposition is as follows:
P ' wherein
iBe the displacement on new summit, P
iIt is the vectorial coordinate that the summit is not moved.
For operating scissors and the such cross-like operating theater instruments of operating forceps, adopt the position of calculating new summit based on the force feedback model of virtual ball.For the position on each new summit of triangle, back is wiped out in simulation more accurately, each summit to the triangular plate that bumps with virtual operation instrument is provided with flexible strategy X here, and flexible strategy are high more, and the displacement that move on its new summit is also big more, as follows:
Wherein, F
0Be virtual operation instrument suffered power when beginning to operate, r is the radius of virtual ball, and h is the distance of the centre of sphere of virtual ball to tri patch, and Xi is the flexible strategy of summit i; ∑ A
iBe in the triangular plate that intersects with virtual ball, contain the area sum of all triangular plates of summit i; N is the normal vector of tri patch, l
iIt is the displacement on new summit.
Upgrade the position of described operation object model according to the reposition that calculates these triangular plates that bump in the good operation object model, can bring a kind of real-time visual feedback to the operator.
The present invention has also disclosed a kind of device of virtual operation, and as shown in Figure 7, it comprises,
The model generation module is used to read the geometric model of virtual operation instrument, according to the operation object model file generating run object model that imports;
Coordinate Mapping is set up module, is used to set up the coordinate Mapping of described geometric model and described operation object model;
Detection module, be used for when described virtual operation instrument simulation penholder shape operating theater instruments is operated, the summit correspondence of the particle of described virtual operation instrument and penholder shape geometric model is according to the summit of described penholder shape geometric model whether detecting described virtual operation instrument in the plane at the tri patch place of described operation object model and whether described operation object model collides;
When described virtual operation instrument analog crossover shape operating theater instruments, whether whether the point of crossing correspondence of the particle of described virtual operation instrument and cross-like geometric model, the minor increment of being had a few to the tri patch of described operation object model according to described point of crossing detect described virtual operation instrument less than described point of crossing to the distance on the summit of described cross-like geometric model and bump with described operation object model;
The force feedback computing module, be used for when detecting described virtual operation instrument and described operation object model bumps, and when described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, detect the coordinate figure of summit before and after collision of described penholder shape geometric model, and connect into the track line segment, calculate the vector value of this track line segment in level and vertical direction, determine that according to the resistance stiffness coefficient of cutting and constraining force stiffness coefficient described operation object model is to the cutting resistance of described virtual operation instrument and the described operation object model constraining force to described virtual operation instrument again, at last determine the force feedback of described virtual operation instrument, and feed back to the operator according to described cutting resistance and constraining force;
When the operating scissors in the described virtual operation instrument analog crossover shape operating theater instruments are operated, detect in the described operand tri patch that the geometric model with described operating scissors bumps, determine the flexible strategy on each summit in this tri patch, and determine in the tri patch displacement before and after each summit collision according to these flexible strategy, upgrade the coordinate position on each summit of described tri patch according to this displacement, simultaneously determine the force feedback of described virtual operation instrument, and feed back to the operator according to this displacement.
Wherein in one embodiment, can also comprise model building module, as shown in Figure 8, be used for measuring the actual outer dimensions of operation apparatus (scalpel, operating scissors, operating forceps, sewing needle etc.) commonly used; Set up the geometric model of these operating theater instruments then with three-dimensional picture software; And these geometric models are stored as the 3DS form.The model generation module directly can call the geometric model of virtual operation instrument correspondence when the simulated operation from model building module like this.
In order better to reflect the positional information of the operation object model after the collision, device of the present invention also comprises, as shown in Figure 8, the deformation computing module, when described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, if the suffered cutting resistance of described virtual operation instrument is during greater than certain value, determine the new coordinate position of the particle of described virtual operation instrument according to the resistance stiffness coefficient of the component of the horizontal direction of the coordinate position after the particle collision of this definite value, described virtual operation instrument, described track line segment and described cutting; Detect in the described operation object model each apex coordinate of the tri patch that the geometric model with described penholder shape operating theater instruments bumps, according to the displacement on each summit new coordinate position with linear definite described each summit of displacement between the coordinate position after the new coordinate position of described particle and the collision of described particle.
Device of the present invention can also comprise, the operating forceps feedback module, as shown in Figure 9, be used to detect the coordinate position of geometric model before and after the clamp operation of described operating forceps, and in the described operation object model with the particle of the geometric model of described operating forceps the coordinate position of summit before and after the clamp operation apart from the tri patch of minimum, and according to be directly proportional with the displacement of the position force feedback of definite described virtual operation instrument of the force feedback of external force when the beginning clamp of the geometric model of described operating forceps, described virtual operation instrument.Force feedback in the time of can calculating the operation of sham operated pincers according to this operating forceps feedback module makes device of the present invention to operate by the such clamp of sham operated pincers, the force feedback in the time of can also calculating this operating forceps operation of simulation simultaneously.
Above-described embodiment of the present invention does not constitute the qualification to protection domain of the present invention.Any modification of being done within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (10)
1, a kind of method of virtual operation is characterized in that, may further comprise the steps:
Step 1, read the geometric model of virtual operation instrument, according to the operation object model file generating run object model that imports; Described virtual operation instrument comprises penholder shape virtual operation instrument and cross-like virtual operation instrument, and described geometric model and described operation object model are made up of the triangular plate model;
Step 2, set up the coordinate Mapping of described geometric model and described operation object model;
Step 3, when the operation of described virtual operation instrument simulation penholder shape operating theater instruments, the summit correspondence of the particle of described virtual operation instrument and penholder shape geometric model is according to the summit of described penholder shape geometric model whether detecting described virtual operation instrument in the plane at the tri patch place of described operation object model and whether described operation object model collides; Perhaps,
When described virtual operation instrument analog crossover shape operating theater instruments, whether whether the point of crossing correspondence of the particle of described virtual operation instrument and cross-like geometric model, the minor increment of being had a few to the tri patch of described operation object model according to described point of crossing detect described virtual operation instrument less than described point of crossing to the distance on the summit of described cross-like geometric model and bump with described operation object model;
If step 4 detects described virtual operation instrument and described operation object model bumps;
When described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, detect the coordinate figure of summit before and after collision of described penholder shape geometric model, and connect into the track line segment, calculate the vector value of this track line segment in level and vertical direction, determine that according to the resistance stiffness coefficient of cutting and constraining force stiffness coefficient described operation object model is to the cutting resistance of described virtual operation instrument and the described operation object model constraining force to described virtual operation instrument again, at last determine the force feedback of described virtual operation instrument, and feed back to the operator according to described cutting resistance and constraining force; Perhaps,
When the operating scissors in the described virtual operation instrument analog crossover shape operating theater instruments are operated, detect in the described operand tri patch that the geometric model with described operating scissors bumps, determine the flexible strategy on each summit in this tri patch, and determine in the tri patch displacement before and after each summit collision according to these flexible strategy, upgrade the coordinate position on each summit of described tri patch according to this displacement, simultaneously determine the force feedback of described virtual operation instrument, and feed back to the operator according to this displacement.
2, the method for virtual operation according to claim 1, it is characterized in that: in the step 4, when described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, if the suffered cutting resistance of described virtual operation instrument is during greater than certain value, determine the new coordinate position of the particle of described virtual operation instrument according to the resistance stiffness coefficient of the component of the horizontal direction of the coordinate position after the particle collision of this definite value, described virtual operation instrument, described track line segment and described cutting; Detect in the described operation object model each apex coordinate of the tri patch that the geometric model with described penholder shape operating theater instruments bumps, according to the displacement on each summit new coordinate position with linear definite described each summit of displacement between the coordinate position after the new coordinate position of described particle and the collision of described particle.
3, the method of virtual operation according to claim 1, it is characterized in that: in the step 4, when described virtual operation instrument is simulated operating forceps when operation in the described cross-like operating theater instruments, detect the coordinate position of geometric model before and after the clamp operation of described operating forceps, and in the described operation object model with the particle of the geometric model of described operating forceps the coordinate position of summit before and after the clamp operation apart from the tri patch of minimum, and according to the geometric model of the described operating forceps external force when the beginning clamp, the force feedback of described virtual operation instrument is directly proportional with the displacement of position and determines the force feedback of described virtual operation instrument.
4, the method for virtual operation according to claim 1 is characterized in that: in the step 4, when described virtual operation instrument was simulated the operation of described penholder shape operating theater instruments, the force feedback of described virtual operation instrument specifically was calculated as:
D＝R-P，D
n＝(D·n)n，D
t＝D-D
n
F＝F
n+F
t，F
t＝k
cuttingD
t，F
n＝k
constraintD
n
Wherein P is the coordinate of the particle correspondence of virtual operation instrument before the collision, and R is the coordinate of the particle correspondence of collision back virtual operation instrument, and F is the force feedback of virtual operation instrument, k
CuttingBe the resistance rigidity of cutting, k
ConstraintBe constraining force rigidity, n is the geometric model normal to a surface vector of penholder shape operating theater instruments.
5, the method for virtual operation according to claim 1 is characterized in that: in the step 4, when described virtual operation instrument sham operated was cut operation, the force feedback of described virtual operation instrument specifically was calculated as:
F＝k
extering∑l
i，
L wherein
i=n (r-h) X
i,
R be the point of crossing of geometric model correspondence of operating scissors to the distance on its summit, the distance of the h tri patch that to be this point of crossing in the described operation object model bump with the geometric model of described operating scissors, ∑ A
iBe in the geometric model of operating scissors, with intersect all contain the area sum of the tri patch of summit i, k
ExteringBe the scale-up factor of force feedback, n is the normal vector of tri patch.
6, the method for virtual operation according to claim 3 is characterized in that: when described virtual operation instrument sham operated pincers were operated, the force feedback of described virtual operation instrument specifically was calculated as:
F＝F
0+k
grasping(S+V
0-S
0-V)
Wherein, S
0Be the coordinate of the particle of cross-like virtual operation instrument point of crossing when beginning clamp, V
0Be the apex coordinate of the nearest tri patch in the described point of crossing of geometric model middle distance of operating forceps correspondence, the external force that act on this summit this moment is F
0, S is the coordinate of point of crossing, clamp operation back, and V is the coordinate behind the tri patch clamp, and the scale-up factor of force feedback is k
Grasping
7, the method for virtual operation according to claim 4 is characterized in that: in the step 4, when described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, if the suffered cutting resistance of described virtual operation instrument is greater than certain value F
CuttingThe time, the summit reposition of the tri patch that the geometric model corresponding with virtual operation instrument bumps in the described operation object model specifically is calculated as:
D=F wherein
Cutting/ k
Cutting, t=D
t/ | D
t|;
P
iBe the apex coordinate of described tri patch when not being moved, P '
iIt is the apex coordinate after described triangular plate is moved.
8, a kind of device of virtual operation is characterized in that: comprises,
The model generation module is used to read the geometric model of virtual operation instrument, according to the operation object model file generating run object model that imports;
Coordinate Mapping is set up module, is used to set up the coordinate Mapping of described geometric model and described operation object model;
Detection module, be used for when described virtual operation instrument simulation penholder shape operating theater instruments is operated, the summit correspondence of the particle of described virtual operation instrument and penholder shape geometric model is according to the summit of described penholder shape geometric model whether detecting described virtual operation instrument in the plane at the tri patch place of described operation object model and whether described operation object model collides; Perhaps,
When described virtual operation instrument analog crossover shape operating theater instruments, whether whether the point of crossing correspondence of the particle of described virtual operation instrument and cross-like geometric model, the minor increment of being had a few to the tri patch of described operation object model according to described point of crossing detect described virtual operation instrument less than described point of crossing to the distance on the summit of described cross-like geometric model and bump with described operation object model;
The force feedback computing module, be used for when detecting described virtual operation instrument and described operation object model bumps, and when described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, detect the coordinate figure of summit before and after collision of described penholder shape geometric model, and connect into the track line segment, calculate the vector value of this track line segment in level and vertical direction, determine that according to the resistance stiffness coefficient of cutting and constraining force stiffness coefficient described operation object model is to the cutting resistance of described virtual operation instrument and the described operation object model constraining force to described virtual operation instrument again, at last determine the force feedback of described virtual operation instrument, and feed back to the operator according to described cutting resistance and constraining force; Perhaps,
When the operating scissors in the described virtual operation instrument analog crossover shape operating theater instruments are operated, detect in the described operand tri patch that the geometric model with described operating scissors bumps, determine the flexible strategy on each summit in this tri patch, and determine in the tri patch displacement before and after each summit collision according to these flexible strategy, upgrade the coordinate position on each summit of described tri patch according to this displacement, simultaneously determine the force feedback of described virtual operation instrument, and feed back to the operator according to this displacement.
9, the device of virtual operation according to claim 8, it is characterized in that: also comprise, the deformation computing module, when described virtual operation instrument is simulated the operation of described penholder shape operating theater instruments, if the suffered cutting resistance of described virtual operation instrument is during greater than certain value, determine the new coordinate position of the particle of described virtual operation instrument according to the resistance stiffness coefficient of the component of the horizontal direction of the coordinate position after the particle collision of this definite value, described virtual operation instrument, described track line segment and described cutting; Detect in the described operation object model each apex coordinate of the tri patch that the geometric model with described penholder shape operating theater instruments bumps, according to the displacement on each summit new coordinate position with linear definite described each summit of displacement between the coordinate position after the new coordinate position of described particle and the collision of described particle.
10, the device of virtual operation according to claim 8, it is characterized in that: also comprise, the operating forceps feedback module, be used to detect the coordinate position of geometric model before and after the clamp operation of described operating forceps, and in the described operation object model with the particle of the geometric model of described operating forceps the coordinate position of summit before and after the clamp operation apart from the tri patch of minimum, and according to be directly proportional with the displacement of the position force feedback of definite described virtual operation instrument of the force feedback of external force when the beginning clamp of the geometric model of described operating forceps, described virtual operation instrument.
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