膝关节镜半月板虚拟手术中的力觉交互研究

发布时间：2018-05-20 10:35

本文选题：虚拟手术 + 半月板手术　；参考：《广东工业大学》2015年硕士论文

【摘要】：得益于内窥镜微创手术在医疗领域的广泛应用,越来越多的患者选择该手术取代传统的开放式手术。由于微创手术操作难度高、初级医生培训手段缺乏且周期长,使得微创手术普及受到限制。虚拟手术仿真系统是虚拟现实技术在现代医学领域的全新应用,该系统为手术培训以及术前预演提供一种新的手段,它具有交互性强、实时性好、沉浸感深等特点。目前,虚拟手术仿真系统已成为国际生物医学工程、计算机仿真等领域研究的重点课题。膝关节镜半月板手术是最常见的关节镜手术之一,该手术对医生的手眼协调能力要求较高。力反馈交互是虚拟手术研究的重点内容之一,操作者通过力反馈技术感受虚拟场景中的力／触觉并作出实时、精准的反应。本文基于力反馈装置设计和力觉交互,开发虚拟膝关节镜半月板手术交互系统。本研究的主要内容如下：(1)交互装置设计及运动控制分析。根据膝关节镜手术的操作特点和功能需求,完成交互装置的结构设计,分析装置操作的运动特性,最终给出系统控制方案。(2)半月板物理模型构建与反馈力计算。分析半月板生物力学特点,确定虚拟手术交互系统中半月板的物理模型,并对模型的形变进行分析。视觉频率与触觉频率并不相同,但它们处于各自的刷新循环中。本文给出仿真与触觉的数据通讯结构原理图,以及模型受到作用后的反馈力计算方法。(3)力反馈场景交互设计。该部分研究内容包括力反馈交互控制流程图、连接软件和硬件接口、虚拟模型运动需求分析。在模型交互过程中,选择适当的碰撞检测算法,并对力觉信息进行处理和反馈。(4)虚拟半月板手术系统开发。介绍虚拟半月板手术系统的框架及各功能模块,采用医学仿真软件SOFA开发一个具有力反馈功能的虚拟膝关节半月板手术系统,最终实现能够满足膝关节镜手术培训需要的手术仿真。
[Abstract]:Due to the wide application of endoscopic minimally invasive surgery in the medical field, more and more patients choose this surgery to replace the traditional open surgery. The popularization of minimally invasive surgery is limited due to the difficulty of minimally invasive surgery and the lack of training methods for primary doctors. Virtual surgery simulation system is a new application of virtual reality technology in the field of modern medicine. It provides a new method for surgery training and preoperation preview. It has the characteristics of strong interaction, good real-time performance, deep immersion and so on. At present, virtual surgery simulation system has become an important research topic in the field of biomedical engineering and computer simulation. Arthroscopic meniscus surgery is one of the most common arthroscopic procedures. Force-feedback interaction is one of the most important aspects of virtual surgery. The operator experiences the force / tactile sensation in the virtual scene by force feedback technology and makes real-time and accurate response. Based on the design of force feedback device and the interaction of force sense, a virtual knee arthroscopic meniscus operation interaction system is developed in this paper. The main contents of this study are as follows: 1) Design of interactive device and analysis of motion control. According to the operation characteristics and functional requirements of knee arthroscopic surgery, the structure design of the interactive device is completed, and the kinematic characteristics of the device operation are analyzed. Finally, the physical model construction and feedback force calculation of the meniscus are given. The biomechanical characteristics of meniscus are analyzed and the physical model of meniscus in virtual surgical interaction system is determined and the deformation of the model is analyzed. Visual frequency and tactile frequency are not the same, but they are in their own refresh cycle. This paper presents the schematic diagram of the data communication between simulation and tactile, and the interactive design of the feedback scene after the model is acted on. This part includes the flow chart of force feedback interactive control, the interface between software and hardware, and the motion requirement analysis of virtual model. In the process of model interaction, the appropriate collision detection algorithm is selected, and the force sensing information is processed and the virtual meniscus surgery system is developed. This paper introduces the framework and function modules of virtual meniscus surgery system. A virtual knee meniscus surgery system with force feedback function is developed by using medical simulation software SOFA. Finally, the simulation of knee arthroscopy training can be realized.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R687.4;TP391.9

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