本文選題：虛擬手術(shù)系統(tǒng)　切入點：物理建模　出處：《哈爾濱工程大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：虛擬現(xiàn)實技術(shù)的進(jìn)步,使得建立虛擬手術(shù)系統(tǒng)從可能變成現(xiàn)實。醫(yī)生通過力觸覺交互設(shè)備在虛擬環(huán)境下模擬手術(shù)過程,獲得逼真的力觸覺和視覺反饋。在虛擬手術(shù)系統(tǒng)的物理建模過程中,軟組織的力學(xué)性能參數(shù)已成為制約虛擬器官物理模型效果的瓶頸。測量軟組織器官真實的力學(xué)性能參數(shù),對提升虛擬手術(shù)系統(tǒng)的力觸覺反饋,具有極大的意義。在國內(nèi)外關(guān)于軟組織力學(xué)參數(shù)測量研究的基礎(chǔ)上,本課題將要搭建一種新型軟組織力學(xué)參數(shù)測量平臺,通過實驗測量肝臟力學(xué)參數(shù),并將其應(yīng)用到虛擬手術(shù)系統(tǒng)當(dāng)中,使操作者獲得更貼近真實的力反饋效果。主要研究內(nèi)容有:搭建虛擬手術(shù)系統(tǒng)軟件環(huán)境。利用OpenGL在虛擬環(huán)境下重繪肝臟和手術(shù)器械的幾何模型,通過建立包圍盒方式,提高碰撞檢測速度;通過分析軟組織力學(xué)特性,進(jìn)而利用三參量模型描述軟組織的粘彈性;建立質(zhì)點-彈簧模型,進(jìn)而明確虛擬肝臟物理模型所需的核心力學(xué)參數(shù):肝臟的彈性系數(shù)k、黏性系數(shù)η和外層組織的破壞力閥值Fm。搭建一種全新的軟組織力學(xué)參數(shù)測量平臺,提出將Phantom Omni機器人的功能擴展,應(yīng)用到軟組織形變信息的測量中。采用球面算法,利用Matlab擬合測量平臺的“桿長L”,使用D-H法進(jìn)行正運動學(xué)建模,獲得末端點的坐標(biāo)。編寫M文件,分析末端點工作空間。設(shè)計裝夾機構(gòu)和支架機構(gòu),用于輔助實驗操作。設(shè)計算法,計算力傳感器的末端重量補償和接觸力閥值。結(jié)合編程軟件,測量肝臟形變量和形變力。設(shè)計單軸壓縮實驗,采用分段擬合彈性系數(shù)方法,擬合不同形變階段肝臟的彈性系數(shù)k ;設(shè)計應(yīng)力松弛實驗,擬合肝臟的黏性系數(shù)η;設(shè)計穿刺實驗,分析肝臟外層組織被刺破瞬間的形變力峰值,即肝臟外層組織的破壞力閥值Fm。將肝臟的力學(xué)性能參數(shù)應(yīng)用到虛擬手術(shù)系統(tǒng)中。通過Phantom Omni力觸覺設(shè)備,對虛擬肝臟進(jìn)行壓縮和拉伸操作,獲得虛擬環(huán)境下的力反饋。設(shè)計真實肝臟整體的壓縮實驗,測量真實整體肝臟在被壓縮狀態(tài)下的形變力位關(guān)系,將此力位關(guān)系與虛擬環(huán)境下的形變力位關(guān)系進(jìn)行對比,驗證虛擬手術(shù)系統(tǒng)的正確性,進(jìn)一步說明真實肝臟的力學(xué)參數(shù)可以提高虛擬手術(shù)系統(tǒng)的力觸覺體驗。本課題建立一個基于真實肝臟力學(xué)性能參數(shù)的虛擬手術(shù)系統(tǒng),為操作者提供較為完善的力觸覺和視覺上的體驗。
[Abstract]:Advances in virtual reality technology have made it possible to build virtual surgery systems. Doctors use force-tactile interactive devices to simulate the process of surgery in a virtual environment. In the process of physical modeling of virtual surgery system, the mechanical performance parameters of soft tissue have become the bottleneck restricting the effect of physical model of virtual organ. The real mechanical performance parameters of soft tissue organ are measured. It is of great significance to enhance the force-tactile feedback of virtual surgery system. Based on the research of soft tissue mechanics parameter measurement at home and abroad, this paper will build a new soft tissue mechanics parameter measurement platform. The parameters of liver mechanics were measured experimentally and applied to the virtual surgery system. The main research contents are as follows: setting up the software environment of virtual surgery system, redrawing the geometry model of liver and surgical instruments by using OpenGL in virtual environment, and establishing the bounding box method. Improve the speed of collision detection, analyze the mechanical properties of soft tissue, then describe the viscoelasticity of soft tissue by using three parameter model, establish mass-spring model, Furthermore, the core mechanical parameters needed for the virtual liver physical model are defined: the elastic coefficient of the liver k, the viscosity coefficient 畏 and the destructive power threshold value Fm of the outer tissue. A new platform for measuring the mechanical parameters of soft tissue is built. In this paper, the function of Phantom Omni robot is extended and applied to the measurement of soft tissue deformation information. The spherical algorithm is used to fit the "bar length L" of the measuring platform with Matlab, and the D-H method is used to model the forward kinematics. Get the coordinates of the terminal point. Write M file, analyze the workspace of the end point. Design the clamping mechanism and support mechanism to assist the experimental operation. The end weight compensation and contact force threshold of the force sensor are calculated. Combined with the programming software, the liver shape variables and deformation forces are measured. The uniaxial compression experiment is designed, and the method of piecewise fitting elastic coefficient is adopted. Fitting the elastic coefficient k of the liver at different deformation stages; designing stress relaxation experiments to fit the viscosity coefficient 畏 of the liver; designing puncture experiments to analyze the peak deformation force at the moment of the puncture of the outer layer of the liver, That is, the damage threshold of the outer layer of the liver, Fm. The mechanical properties of the liver are applied to the virtual surgery system. The virtual liver is compressed and stretched by the Phantom Omni force tactile device. Force feedback under virtual environment is obtained. The compression experiment of real liver is designed to measure the deformed force position relationship of real whole liver under compression state, and the force position relationship is compared with that under virtual environment. The validity of the virtual surgery system is verified, and it is further proved that the mechanical parameters of the real liver can improve the force-tactile experience of the virtual surgery system. In this paper, a virtual surgery system based on the parameters of the real liver mechanical performance is established. To provide operators with a more complete sense of force and visual experience.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：R61;TP391.9

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