CN102207997B - Force-feedback-based robot micro-wound operation simulating system - Google Patents
Force-feedback-based robot micro-wound operation simulating system Download PDFInfo
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Abstract
The invention discloses a force-feedback-based robot micro-wound operation simulating system, and relates to a computer virtual simulation system which is designed, aiming at the research status of robot micro-wound operation and problems and defects of the existing simulation technology. A database module in the simulation system provided by the invention is used for storing original data of medical images, robot micro-wound operation equipment model data and motion constrain information; an image processing module is used for converting image data in the database module into three-dimensional volumetric data; a physical modeling module is used for constructing a geometrical model according to the three-dimensional volumetric data; a force feedback module is used for calculating the sizeand direction of feedback force according to the geometrical model and parameters output by a force feedback perception device, outputting the force feedback data to the force feedback perception device, so that operators can feel the force through the force feedback perception device; and a graph rendering module is used for acquiring rendered image information according to collision informationsent by the force feedback module and robot motion information sent by the database module and outputting the image information.
Description
Technical field
The present invention relates to a kind of computer virtual simulation system, particularly a kind of robot micro-wound operation analogue system based on force feedback.
Technical background
In recent years, the minimally-invasive surgery robot systems such as da Vinci are applied to clinical gradually, and it combines the traditional medical apparatus with infotech, Robotics, make surgical diagnosis and treatment reach Wicresoft, microminiaturization, intellectuality.Micro-wound operation robot is compared with traditional operation has significant advantage: at first robot improves doctor's mode of operation, and the standard operation technique improves the operation quality, Minimally Invasive Surgery is developed and popularizes have important impetus; In addition, robot does not have human sense tired out and physiology restriction, is not subjected to environmental stimuli, and it is very little that work range can design, the precision of executable operations is high, flexible operation, extend the functipnal capability of doctor's hand, eye, eliminated the intrinsic of staff and tremble, prolonged the surgical occupation life-span.Robot itself is not afraid of and is subjected to x radiation x.These advantages are so that robot becomes doctor's best assistant.
Yet micro-wound operation robot also has its hidden danger that need to overcome.Compare with traditional operation, in the robotic surgery, the operator can't directly observe operative site, doctor's hand eye coordination difficulty, and the scope of activities of operating theater instruments is also unlike traditional operation, operation need to rely on sight glass to judge focus in very little space fully, and the operating theater instruments that operates various complexity comes removal of lesions was and sewing up a wound, and therefore, degree of accuracy is difficult to improve, the human factor of both hands slight jitter and so on also can't be got rid of, and this also has higher requirement for the doctor.Without training, the surgeon is difficult to competent this novel modus operandi.But traditional training and training except using corpse and animal, are not better trained and simulation means.Use animal to give training, on the one hand, the anatomical structure of animal is different with the anatomical structure of human body, also can be subject on the other hand the condemnation of Animal Protection Association, and people's corpse is can not be nonexpondable.
If the characteristics of micro-wound operation robot are combined with the virtual operation technology, develop a cover robot micro-wound operation analogue system, then can address the above problem.This technology simulates human organ model from medical image in computing machine, create virtual medical environment and virtual operation robot, and dummy robot's minimal invasive surgical procedures of assisting.The multi-door subjects such as medical science, computer graphics, biomechanics, Mechanics of Machinery, materialogy that needed integrated application.Increasingly extensive along with the development of micro-wound operation robot technology and clinical practice, the following training that needs a large amount of doctors to accept the micro-wound operation robot surgical technic.Therefore, the system of virtual operation based on micro-wound operation robot has become a novelty and urgent research direction.
At present, similar system is very rare, the work of some this respects has been done by Tokyo Ci Megumi meeting medical university and Hong Kong Chinese University based on Leonardo da Vinci's operating robot, obtained certain achievement in research, but the system that develops is still very immature, and domestic Surgery Simulation based on operating robot is not yet extensively carried out, this respect research both domestic and external also is in the starting stage in a word, often has robot motion analog distortion, Soft Tissue Deformation distortion, lacks the problems such as force feedback or force feedback distortion.
Summary of the invention
The present invention is directed to the present Research of robot micro-wound operation, for its problem and shortage that exists at present, design a kind of robot micro-wound operation analogue system based on force feedback that can repeatedly carry out.
Robot micro-wound operation analogue system based on force feedback of the present invention is by the force feedback awareness apparatus, the force feedback module, database module, image processing module, physical modeling module and graph rendering module consist of, force feedback module output control signal is to the force feedback awareness apparatus, described force feedback awareness apparatus power output feeds back signal to the force feedback module, force feedback module output collision alarm is to graph rendering module, image processing module reads image data from database module, described image processing module output three-dimensional reconstruction information is to the physical modeling module, described physical modeling module output physical model information is to the force feedback module, and described force feedback module reads kinematic constraint information from database module; Described pattern rendering module also reads kinematic constraint information from database module;
Described database module is used for storing medical image raw data, robot micro-wound operation apparatus model data and kinematic constraint information;
Described image processing module is used for the image data of reading out data library module, and converts the image data that reads to three-dimensional data;
Described physical modeling module, for the three-dimensional data of reading images processing module, and according to described three-dimensional data structure geometric model;
Described force feedback module, be used for going out according to the calculation of parameter that geometric model and the force feedback awareness apparatus of physical modeling module construction are exported the size and Orientation of feedback force, and these feedback forces are outputed to the force feedback awareness apparatus after controlling and compensating, and then make the operator experience power by this force feedback awareness apparatus;
Described graph rendering module, the image information after being used for robot motion's information acquisition that the collision information that sends according to the force feedback module and database module send and playing up, and realize the output of video information;
Described physical modeling module is comprised of subregion grid division unit and improved mass spring modeling unit, wherein:
Subregion grid division unit is used for according to focus distribution, internal organs characteristics and care zone three-dimensional data being carried out the subregion grid and divides;
Improved mass spring modeling unit, the three-dimensional data after being used for dividing according to the subregion grid carries out preliminary modeling, obtains the Mass-spring model, and Newton second law is followed in the motion of the single particle in this Mass-spring model, for particle i:
In the formula:
m
iThe quality of expression particle i; x
iThe motion vector of expression particle i; C represents ratio of damping; K
iThe expression elasticity coefficient; f
iThe suffered external force of expression particle i, x
IjRelative displacement between expression particle i and the particle j, g represents acceleration of gravity; N is positive integer, the quantity of the particle that expression and particle i have an effect.
Described physical model information comprises particle postition, the elastic coefficient and ratio of damping.
Database module described in the present invention can be comprised of image database, robot micro-wound operation apparatus model bank and kinematic constraint unit, and wherein: image database is used for the storing medical image raw data; Robot micro-wound operation apparatus model bank, the partial model and the various operating theater instruments model data that are used for storing micro-wound operation robot; The kinematic constraint unit is used for all parts that storage robot micro-wound operation apparatus model bank stores and kinematical constraint connection relation and the characteristics of motion between the various operating theater instruments.
In the model data in the robot micro-wound operation apparatus model bank described in the present invention, given different materials for the model of each moving component, different diffusing has been set.
Image processing module described in the present invention can be comprised of image pretreatment unit and three-dimensional reconstruction unit, image pretreatment unit wherein, image data in the reading out data library module, and described image data carried out sending to after the image pre-service three-dimensional reconstruction unit; The three-dimensional reconstruction unit, the data that are used for adopting the MC algorithm to obtain after the image pre-service are carried out three-dimensional reconstruction, obtain three-dimensional data.
Force feedback module described in the present invention can be comprised of collision detection unit, particle displacement change calculations unit, feedback force computing unit and power control and compensating unit, collision detection unit wherein, be used for judging whether the end of robot bumps with organ, and in the situation that the positional information that the accurate location model of bumping bumps, and the positional information that will collide sends to graph rendering module and particle displacement change calculations unit simultaneously; Particle displacement change calculations unit, be used for when receiving the collision information that collision detection unit sends, calculate immediately the change in displacement information of the particle of position of collision, and then obtain the deformation data of organ model, and the change in displacement information of described particle is sent to the feedback force computing unit; The feedback force computing unit is used for calculating the information that obtains feedback force according to the particle displacement change information, and this feedback force information is sent to power control and compensating unit; Power control and compensating unit are used for obtaining force compensating information according to force feedback information, send power control information and force compensating information and send to the force feedback awareness apparatus.
Above-mentioned collision information comprises direction and the position of collision.
Graph rendering module described in the present invention can be comprised of image rendering unit and video output unit, and wherein said image rendering unit be used for to create viewpoint, illumination is set, the image renderings such as data read, form upgrades, form destruction operate; Described video output unit is used for converting the image information of image rendering unit output to video information output.
Robot micro-wound operation analogue system based on force feedback of the present invention based on a kind of micro-wound operation robot mechanism, and with the medical image data of the real human body construction basis as simulated environment, has following remarkable advantage:
1, break through training and the teaching pattern of traditional Minimally Invasive Surgery, avoided using the sample of anyone or animal, and can unlimited Reusability.
2, analogue system is based on a kind of minimally-invasive surgery robot system, and simulating scenes can be realized the switching between the operative scenario in robot motion's scene and the human body, that is can realize simultaneously traditional Minimally Invasive Surgery emulation and two kinds of mode of operations of robot micro-wound operation emulation.The kinematics characteristics of operating robot and mechanism form can change the effectively various motions of Reality simulation robot flexibly.
3, the function that has accurate force feedback can be felt the power suitable with true operation during operation, can effectively strengthen the sense of reality of doctor's operation.
4, utilize advanced Medical Imaging Technology and computer image processing technology, based on the medical image of real human body, utilize correlation technique structure internal organs, focus and the whole field of operation physiological environments such as three-dimensional reconstruction.Realized the digitizing, visual of surgical field of view.
5, can utilize the image data of certain Disease to carry out modeling, design a kind of training and tutoring system for certain disease, be conducive to the surgeon and carry out operation teaching, surgery planning and preview, the training by repeatedly and demonstration make the surgeon be familiar with whole operation details for a kind of robot micro-wound operation or the common Minimally Invasive Surgery of certain disease.
6, the soft tissue organs Visualization Model has the physical characteristics of tissue, can realize viscoelastic deformation true to nature when operating theater instruments interacts with it.
7, system delay is little, can realize real-time simulation.
Description of drawings
Fig. 1 is the robot micro-wound operation emulate system architecture figure based on force feedback.Fig. 2-12 is micro-wound operation robot department pattern schematic diagram, and wherein, Fig. 2 is passive transverse arm one, Fig. 3 is passive transverse arm two, Fig. 4 is passive armstand, and Fig. 5 is master arm one, and Fig. 6 is master arm two, Fig. 7 is master arm three, Fig. 8 is master arm 4, and Fig. 9 is slide unit, and Figure 10 is micromechanics, Figure 11 is base, and Figure 12 is the micro-wound operation robot wiring layout behind the component combination shown in Fig. 2-11.Figure 13 and Figure 16 are the department patterns in the human body soft tissue model bank, and wherein Figure 13 and Figure 14 are gall-bladders, and Figure 15 is blood vessel, and Figure 16 is the abdominal cavity, include liver, courage, intestines, stomach.Figure 17 is micro-wound operation robot Surgery Simulation scene, and Figure 18 is the partial enlarged drawing of the surgery location of soil 17.Figure 19 is robotic surgery end effector principle of work.Figure 20-the 23rd, the simulating scenes schematic diagram of micro-wound operation robot operation crawl operative site and operative site distortion, wherein Figure 21 and 22 is the partial enlarged drawings among Figure 20, simulating scenes when wherein Figure 21 represents to prepare to grasp, Figure 22 are the simulating scenes when having grasped.Figure 23 is that rear, the crawled position of crawl produces the simulating scenes of distortion.
Embodiment
Embodiment one, referring to Fig. 1 present embodiment is described.The described robot micro-wound operation analogue system based on force feedback of present embodiment is by force feedback awareness apparatus 5, force feedback module 4, database module 1, image processing module 2, physical modeling module 3 and graph rendering module 6 consist of, force feedback module 4 output control signals are to force feedback awareness apparatus 5, described force feedback awareness apparatus 5 power outputs feed back signal to force feedback module 4, force feedback module 4 output collision alarms are to graph rendering module 6, image processing module 2 reads image data from database module 1, described image processing module 2 output three-dimensional reconstruction information are to physical modeling module 3, described physical modeling module 3 output physical model information are to force feedback module 4, and described force feedback module 4 reads kinematic constraint information from database module 1; Described pattern rendering module also reads kinematic constraint information, graph rendering module 6 from database module 1;
Described database module 1 is used for storing medical image raw data, robot micro-wound operation apparatus model data and kinematic constraint information;
Described image processing module 2 is used for the image data of reading out data library module 1, and converts the image data that reads to three-dimensional data;
Described physical modeling module 3, for the three-dimensional data of reading images processing module 2, and according to described three-dimensional data structure geometric model;
Described force feedback module 4, be used for going out according to the calculation of parameter that geometric model and the force feedback awareness apparatus 5 of physical modeling module 3 structures are exported the size and Orientation of feedback force, and these feedback forces are outputed to the force feedback awareness apparatus after controlling and compensating, and then make the operator experience power by this force feedback awareness apparatus 5;
Described graph rendering module 6, the image information after being used for robot motion's information acquisition that the collision information that sends according to force feedback module 4 and database module 1 send and playing up, and realize the output of video information.
Described physical model information comprises particle postition, the elastic coefficient and ratio of damping described in the present embodiment.
Force feedback awareness apparatus 5 described in the present embodiment can adopt the virtual haptic equipment of existing Omega.Choosing model in the present embodiment is the virtual haptic equipment of OMEGA.3.
Embodiment two, referring to Fig. 1 present embodiment is described.Present embodiment is the explanation to a kind of embodiment of the database module 1 described in the embodiment one, database module 1 described in the present embodiment is comprised of image database 1-1, robot micro-wound operation apparatus model bank 1-2 and kinematic constraint unit 1-3, wherein:
Image database 1-1 is used for the storing medical image raw data;
Robot micro-wound operation apparatus model bank 1-2, the partial model and the various operating theater instruments model data that are used for storing micro-wound operation robot;
Kinematic constraint unit 1-3 is used for all parts that storage robot micro-wound operation apparatus model bank 1-2 stores and kinematical constraint connection relation and the characteristics of motion between the various operating theater instruments.
Medical image raw data described in the present embodiment comprises the image data of different sexes, all ages and classes, various disease.These data are all stored and are read according to the DICOM data standard.
The described medical image raw data of present embodiment can be the view data that gathers from medical supplies such as CT or MRI.
In the partial model and various operating theater instruments model of the micro-wound operation robot of storing among the described robot micro-wound operation apparatus model bank 1-2, include the relevant kinematics information of Minimally Invasive Surgery apparatus, described relevant kinematics information refers under certain coordinate definition, according to the robot end position, both can resolve in conjunction with above-mentioned data and to have obtained whole rod members each self-corresponding position and attitude, and namely solve robot each rod member when action and how to have upgraded position and this problem of attitude of oneself.These data show as one group of matrix at mathematics, and each rod member has two matrixes, an expression attitude, an expression position.Interrelated between these matrixes, formed a kind of kinematic constraint, so that virtual robot can in the light of actual conditions move.
Model data among the robot micro-wound operation apparatus model bank 1-2 described in the present embodiment, all be that these model datas export as the 3DS form and store by the data of actual object being surveyed acquisition, the model data of utilizing 3D modeling software such as 3D Studio MAX foundation to obtain.These model datas all are open, also are variable, and these model datas are to link up the operating robot that forms in the simulated environment according to kinematical constraint by kinematic constraint unit 1-3.
Embodiment three, referring to Fig. 1 present embodiment is described.Present embodiment is further specifying the robot micro-wound operation apparatus model bank 1-2 described in the embodiment two and kinematic constraint unit 1-3, in the model data among the robot micro-wound operation apparatus model bank 1-2 described in the present embodiment, given different materials for the model of each moving component, different diffusing has been set.Like this, can strengthen the demonstration of robot moving cell in virtual environment.
Kinematic constraint related data among the described kinematic constraint unit 1-3 is according to the DH algorithm position and the attitude of robot to be stipulated.
Embodiment four, referring to Fig. 1 present embodiment is described.Present embodiment is the explanation to a kind of embodiment of the image processing module 2 described in the embodiment one, and the image processing module 2 described in the present embodiment is comprised of image pretreatment unit 2-1 and three-dimensional reconstruction unit 2-2, wherein:
Image pretreatment unit 2-1, the image data in the reading out data library module 1, and described image data carried out sending to after the image pre-service three-dimensional reconstruction unit 2-2; Described image pre-service comprises the pretreated technological means of primary image such as gray scale enhancing, Threshold segmentation.
Three-dimensional reconstruction unit 2-2, the data that are used for adopting the MC algorithm to obtain after the image pre-service are carried out three-dimensional reconstruction, obtain three-dimensional data.
Described image processing module 2 can obtain a three-dimensional data, and to carry out physical modeling ready for next step.Accompanying drawing 13-16 is human body soft tissue model storehouse department pattern, is respectively the organize models in gall-bladder, blood vessel and abdominal cavity, and described model is based on that geometric model that above-mentioned three-dimensional data shines upon out sets up.
Embodiment five, referring to Fig. 1 present embodiment is described.Present embodiment is the explanation to a kind of embodiment of the physical modeling module 3 described in the embodiment one, and the physical modeling module 3 described in the present embodiment is comprised of subregion grid division unit 3-1 and improved mass spring modeling unit 3-2, wherein:
Subregion grid division unit 3-1 is used for according to focus distribution, internal organs characteristics and care zone three-dimensional data being carried out the subregion grid and divides;
Improved mass spring modeling unit 3-2, the three-dimensional data after being used for dividing according to the subregion grid carries out preliminary modeling, obtains the Mass-spring model, and Newton second law is followed in the motion of the single particle in this Mass-spring model, for particle i:
In the formula:
m
iThe quality of expression particle i; x
IjRelative displacement between expression particle i and the particle j, g represents acceleration of gravity; N is positive integer, the quantity of the particle that expression and particle i have an effect.
The described physical modeling of present embodiment has considered gravity factor, damping factor etc. when modeling, and the elasticity coefficient of spring model is carried out regionality distribution setting, but also utilizes related function to consider some dynamicss of model.These work are that the physical property that virtual operation fully highlights surgical object when carrying out is got ready.
Embodiment six, referring to Fig. 1 present embodiment is described.Present embodiment is the explanation to a kind of embodiment of the force feedback module 4 described in the embodiment one, force feedback module 4 described in the present embodiment is comprised of collision detection unit 4-1, particle displacement change calculations unit 4-2, feedback force computing unit 4-3 and power control and compensating unit 4-4, wherein:
Collision detection unit 4-1, be used for judging whether the end of robot bumps with organ, and in the situation that the positional information that the accurate location model of bumping bumps, and the positional information that will collide sends to graph rendering module 6 and particle displacement change calculations unit 4-2 simultaneously;
Particle displacement change calculations unit 4-2, be used for when receiving the collision information that collision detection unit 4-1 sends, calculate immediately the change in displacement information of the particle of position of collision, and then obtain the deformation data of organ model, and the change in displacement information of described particle is sent to feedback force computing unit 4-3;
Feedback force computing unit 4-3 is used for calculating the information that obtains feedback force according to the particle displacement change information, and this feedback force information is sent to power control and compensating unit 4-4;
Power control and compensating unit 4-4 are used for obtaining force compensating information according to force feedback information, send power control information and force compensating information and send to force feedback awareness apparatus 5.
Power control described in the present embodiment and compensating unit 4-4 are used for force feedback is carried out perfect, consider damping, gravity and kinetic factor force signal is compensated.
Collision information described in the present embodiment comprises direction and the position of collision.
Embodiment seven, referring to Fig. 1 present embodiment is described.Present embodiment is the explanation to a kind of embodiment of the graph rendering module 6 described in the embodiment one, and the graph rendering module 6 described in the present embodiment is comprised of image rendering unit 6-1 and video output unit 6-2, wherein:
Described image rendering unit 6-1 be used for to create viewpoint, illumination is set, the image renderings such as data read, form upgrades, form destruction operate;
Described video output unit 6-2 is used for converting the image information of image rendering unit 6-1 output to video information output.
The present invention can realize the micro-wound operation robot Analog Simulation System of repeatedly carrying out with the medical image data of the real human body construction basis as simulated environment.
The present invention adopts virtual haptic equipment as force feedback awareness apparatus 5, in the process that realizes analogue system of the present invention, can realize in conjunction with a developing instrument Chai3D of programming language C++, openGL and virtual haptic system, described developing instrument Chai3D is an OO kit based on C++, the abstract function of a lot of higher levels is provided, can need not too much to consider the physical layer interface function in the performance history, thereby can consider the generation of scene, the calculation and control that physical modeling feeds back with joint efforts by emphasis, embodiment is as follows:
Establishment for scene, at first to utilize cWorld, cLight, three classes of cCamera to define three objects, purpose is to create a virtual environment and illumination is set and view information, also to stipulate information such as the size of form, position, style, demonstration, refresh cycle simultaneously, also need simultaneously feedback awareness apparatus 5 is identified, these work major parts are finished in graph rendering module 6, and modules begins to carry out work according to certain triggering and program circuit under this prerequisite.
To the motion simulation of robot, realize by canned data and force feedback awareness apparatus 5 and graph rendering module 6 among robot micro-wound operation apparatus model bank 1-2 and the kinematic constraint unit 1-3.
Referring to the set up process of Fig. 2-12 for the realistic model of micro-wound operation robot part, realize the motion association of all parts in virtual environment by programming, comprise large arm; forearm and terminal action; namely: each robot micro-wound operation apparatus model group load shown in Fig. 2-11 is connected together; with Fig. 2 and 3 described two passive transverse arms; passive armstand shown in Figure 4; four master arms shown in Fig. 5-8; slide unit shown in Figure 9; after little apparatus assembling of operation usefulness shown in Figure 10; be installed on the base shown in Figure 11, finally form the realistic model of the robot arm that is used for Minimally Invasive Surgery shown in Figure 12.
The realistic model of the robot arm that is used for Minimally Invasive Surgery that above-mentioned foundation obtains is in the motion of virtual environment, under the constraint of kinematic constraint unit 1-3, to accept controlling of feedback awareness apparatus 5, and the characteristics of kinematic constraint have determined that robot end 7-4 manipulater can only move around the apocenter O shown in the robotic surgery end effector principle of work shown in the accompanying drawing 19, among Figure 19,7-1 is sleeve pipe, 7-2 is little apparatus of laparoscope or other operations, 7-3 is the little of operation usefulness, 7-4 refers to the end of little apparatus, 7-5 refers to the soft tissue of human organ model, what the arrow among the figure represented each parts can move direction, therefore the operator just can make robot end in the virtual environment reach any desired location in the operative space by this feedback awareness apparatus 5, and then implements virtual operation and operate.Effectively motion simulation has highlighted the work characteristics of micro-wound operation robot.
Force feedback module 4 in the analogue system of the present invention, be used for to realize that analog simulation is not when operative site and robot end bump, referring to shown in Figure 20, robot in the micro-wound operation robot Surgery Simulation scene moves by the aforementioned machines people motion simulation characteristics of motion, does not have power to feel during doctor's operational feedback awareness apparatus 5 and experiences.
When robot in the virtual environment contacts with organ, force feedback module 4 is had an effect, terminal and the organ of operating robot has an effect, at first judges whether collision has occured between virtual operation robot end and the organ at collision detection unit 4-1, and in the situation that the position that the location model accurately of bumping bumps.Then enable particle displacement change calculations unit 4-2 model is implemented deformation process, the visual context of enabling simultaneously after the control of feedback force computing unit 4-3 and power and compensating unit 4-4 will interact shows by graph rendering module 6, accompanying drawing 21 and Figure 22 have shown the end crawl process of little apparatus in the micro-wound operation robot surgical procedure and the view of distortion, Figure 23 is the simulating scenes figure after the crawl, in crawl, force feedback to feedback awareness apparatus 5 real-time stable outputs, power is felt refresh rate more than 1000Hz, and then so that feels impression effectively during doctor's operational feedback awareness apparatus 5.
Claims (8)
1. based on the robot micro-wound operation analogue system of force feedback, it is by force feedback awareness apparatus (5), force feedback module (4), database module (1), image processing module (2), physical modeling module (3) and graph rendering module (6) consist of, force feedback module (4) output control signal is to force feedback awareness apparatus (5), described force feedback awareness apparatus (5) power output feeds back signal to force feedback module (4), force feedback module (4) output collision alarm is to graph rendering module (6), image processing module (2) reads image data from database module (1), described image processing module (2) output three-dimensional reconstruction information is to physical modeling module (3), described physical modeling module (3) output physical model information is to force feedback module (4), and described force feedback module (4) reads kinematic constraint information from database module (1); Described graph rendering module also reads kinematic constraint information from database module (1);
Described database module (1) is used for storing medical image raw data, robot micro-wound operation apparatus model data and kinematic constraint information;
Described image processing module (2) is used for the image data of reading out data library module (1), and converts the image data that reads to three-dimensional data;
Described physical modeling module (3), for the three-dimensional data of reading images processing module (2), and according to described three-dimensional data structure geometric model;
Described force feedback module (4), be used for going out according to the calculation of parameter that geometric model and the force feedback awareness apparatus (5) of physical modeling module (3) structure are exported the size and Orientation of feedback force, and these feedback forces are outputed to the force feedback awareness apparatus after controlling and compensating, and then make the operator pass through this force feedback awareness apparatus (5) to experience power;
Described graph rendering module (6), the image information after being used for robot motion's information acquisition that the collision information that sends according to force feedback module (4) and database module (1) send and playing up, and realize the output of video information;
It is characterized in that, described physical modeling module (3) is comprised of subregion grid division unit (3-1) and improved mass spring modeling unit (3-2), wherein:
Subregion grid division unit (3-1) is used for according to focus distribution, internal organs characteristics and care zone three-dimensional data being carried out the subregion grid and divides;
Improved mass spring modeling unit (3-2), the three-dimensional data after being used for dividing according to the subregion grid carries out preliminary modeling, obtains the Mass-spring model, and Newton second law is followed in the motion of the single particle in this Mass-spring model, for particle i:
In the formula:
m
iThe quality of expression particle i; x
iThe motion vector of expression particle i; C represents ratio of damping; K
iThe expression elasticity coefficient; f
iThe suffered external force of expression particle i, x
IjRelative displacement between expression particle i and the particle j, g represents acceleration of gravity; N is positive integer, the quantity of the particle that expression and particle i have an effect.
2. the robot micro-wound operation analogue system based on force feedback according to claim 1 is characterized in that, described physical model information comprises particle postition, the elastic coefficient and ratio of damping.
3. the robot micro-wound operation analogue system based on force feedback according to claim 1, it is characterized in that, described database module (1) is comprised of image database (1-1), robot micro-wound operation apparatus model bank (1-2) and kinematic constraint unit (1-3), wherein:
Image database (1-1) is used for the storing medical image raw data;
Robot micro-wound operation apparatus model bank (1-2), the partial model and the various operating theater instruments model data that are used for storing micro-wound operation robot;
Kinematic constraint unit (1-3) is used for all parts of storage robot micro-wound operation apparatus model bank (1-2) storage and kinematical constraint connection relation and the characteristics of motion between the various operating theater instruments.
4. the robot micro-wound operation analogue system based on force feedback according to claim 3, it is characterized in that, in the model data in the described robot micro-wound operation apparatus model bank (1-2), given different materials for the model of each moving component, different diffusing has been set.
5. the robot micro-wound operation analogue system based on force feedback according to claim 1 is characterized in that, described image processing module (2) is comprised of image pretreatment unit (2-1) and three-dimensional reconstruction unit (2-2), wherein:
Image pretreatment unit (2-1), the image data in the reading out data library module (1), and described image data carried out sending to after the image pre-service three-dimensional reconstruction unit (2-2);
Three-dimensional reconstruction unit (2-2), the data that are used for adopting the MC algorithm to obtain after the image pre-service are carried out three-dimensional reconstruction, obtain three-dimensional data.
6. the robot micro-wound operation analogue system based on force feedback according to claim 1, it is characterized in that, described force feedback module (4) is comprised of collision detection unit (4-1), particle displacement change calculations unit (4-2), feedback force computing unit (4-3) and power control and compensating unit (4-4), wherein:
Collision detection unit (4-1), be used for judging whether the end of robot bumps with organ, and in the situation that the positional information that the accurate location model of bumping bumps, and the positional information that will collide sends to graph rendering module (6) and particle displacement change calculations unit (4-2) simultaneously;
Particle displacement change calculations unit (4-2), be used for when receiving the collision information that collision detection unit (4-1) sends, calculate immediately the change in displacement information of the particle of position of collision, and then obtain the deformation data of organ model, and the change in displacement information of described particle is sent to feedback force computing unit (4-3);
Feedback force computing unit (4-3) is used for calculating the information that obtains feedback force according to the particle displacement change information, and this feedback force information is sent to power control and compensating unit (4-4);
Power control and compensating unit (4-4) are used for obtaining force compensating information according to force feedback information, send power control information and force compensating information and send to force feedback awareness apparatus (5).
7. a kind of robot micro-wound operation analogue system based on force feedback according to claim 6 is characterized in that, described collision information comprises direction and the position of collision.
8. the robot micro-wound operation analogue system based on force feedback according to claim 1 is characterized in that, described graph rendering module (6) is comprised of image rendering unit (6-1) and video output unit (6-2), wherein:
Described image rendering unit (6-1) be used for to create viewpoint, illumination is set, the image renderings such as data read, form upgrades, form destruction operate;
Described video output unit (6-2) is used for converting the image information of image rendering unit (6-1) output to video information output.
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