本文選題：導(dǎo)管介入手術(shù)　切入點(diǎn)：虛擬現(xiàn)實(shí)　出處：《南京航空航天大學(xué)》2015年碩士論文

【摘要】：相對(duì)于傳統(tǒng)手術(shù),微創(chuàng)介入手術(shù)具有治療快,創(chuàng)傷小,成本低等優(yōu)點(diǎn),因此被廣泛應(yīng)用到心血管等疾病的診斷與治療當(dāng)中。然而,當(dāng)前的介入手術(shù)操作存在著操作難度高,控制方式單一,反饋信息缺失以及手術(shù)訓(xùn)練成本高、效果差等問(wèn)題,針對(duì)這些不足,本文對(duì)導(dǎo)管介入手術(shù)中的虛擬現(xiàn)實(shí)技術(shù)和主從控制技術(shù)進(jìn)行了深入的研究和分析。本文設(shè)計(jì)了一套含力/觸覺(jué)反饋的主從控制導(dǎo)管介入手術(shù)系統(tǒng),系統(tǒng)由虛擬手術(shù)子系統(tǒng)和主從控制子系統(tǒng)組成。虛擬系統(tǒng)中通過(guò)加入力/觸覺(jué)反饋使操作者在進(jìn)行手術(shù)訓(xùn)練以及實(shí)際手術(shù)中能夠具有更好的臨場(chǎng)感,主從控制的實(shí)現(xiàn)方式使得醫(yī)生能夠從具有強(qiáng)輻射的手術(shù)場(chǎng)所解放出來(lái),降低了手術(shù)操作的技術(shù)門(mén)檻。為了實(shí)現(xiàn)虛擬系統(tǒng)中力/觸覺(jué)反饋與形變效果,本文分別從柔性體建模,碰撞檢測(cè)以及力反饋實(shí)現(xiàn)三個(gè)方面進(jìn)行分析。通過(guò)分析人體軟組織的生物材料特性,本文將軟組織器官的物理模型簡(jiǎn)化為粘彈性模型,在分析和總結(jié)了彈簧-質(zhì)點(diǎn)模型,有限元模型以及邊界元模型等常用的物理模型建模方法之后,本文提出了一種基于彈簧-質(zhì)點(diǎn)模型的骨架球彈簧模型,用于對(duì)虛擬軟組織器官的物理模型構(gòu)建;通過(guò)總結(jié)和對(duì)比經(jīng)典包圍盒算法,球包圍盒、AABB包圍盒、OBB包圍盒以及K-DOPs包圍盒的各自特征和適用范圍,本文設(shè)計(jì)了一種基于球包圍盒且適用于骨架球彈簧物理模型的碰撞檢測(cè)算法;根據(jù)骨架球彈簧模型,建立了虛擬反饋力的計(jì)算模型,并推導(dǎo)出了虛擬血管的形變計(jì)算公式。在主從控制的實(shí)現(xiàn)中,本文針對(duì)主動(dòng)導(dǎo)管的繩驅(qū)動(dòng)單元結(jié)構(gòu)分析了其運(yùn)動(dòng)學(xué),分別采用空間點(diǎn)對(duì)點(diǎn)的映射模型和增量式映射模型建立了主從映射關(guān)系,為了減弱由于不可避免的人手抖動(dòng)帶來(lái)的主從控制精度的降低,本文設(shè)計(jì)了一款基于加權(quán)的遞推均值數(shù)字濾波器對(duì)人手抖動(dòng)進(jìn)行消除�；诶碚摲治�,本文借助Falcon作為虛擬力反饋的觸覺(jué)設(shè)備以及主從控制的主手,PMAC卡作為運(yùn)動(dòng)控制卡,在Visual C++平臺(tái)上以及Open GL和Chai3D函數(shù)庫(kù)的輔助下,組建了系統(tǒng)樣機(jī)并進(jìn)行實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果說(shuō)明了虛擬反饋的逼真性以及主從控制的有效性。
[Abstract]:Compared with traditional surgery, minimally invasive interventional surgery has the advantages of fast treatment, less trauma and low cost, so it is widely used in the diagnosis and treatment of cardiovascular diseases. The single control mode, the lack of feedback information, the high cost of operation training, the poor effect and so on. In this paper, the virtual reality technology and master-slave control technology in catheter interventional surgery are deeply studied and analyzed. A master-slave control catheter interventional surgery system with force / tactile feedback is designed in this paper. The system is composed of virtual surgery subsystem and master-slave control subsystem. By adding force / tactile feedback in the virtual system, the operator can have a better sense of presence in the operation training and the actual operation. In order to realize force / tactile feedback and deformation effect in the virtual system, the master-slave control enables doctors to free themselves from the surgery site with strong radiation, and reduces the technical threshold of operation. In order to realize the effect of force / tactile feedback and deformation in the virtual system, the flexible body is modeled in this paper. By analyzing the biomaterial characteristics of human soft tissue, the physical model of soft tissue organ is simplified to viscoelastic model, and the spring-mass model is analyzed and summarized. After the physical modeling methods such as finite element model and boundary element model, this paper presents a framework sphere spring model based on spring-mass model, which is used to construct the physical model of virtual soft tissue organ. By summing up and comparing the classical bounding box algorithm, the bounding box AABB bounding box OBB bounding box and K-DOPs bounding box have their respective characteristics and applicable scope. In this paper, a collision detection algorithm based on sphere bounding box and suitable for the physical model of skeleton sphere spring is designed, and a virtual feedback force calculation model is established according to the skeleton sphere spring model. In the realization of master-slave control, the kinematics of the rope-driven unit structure of the active catheter is analyzed. The spatial point-to-point mapping model and the incremental mapping model are used to establish the master-slave mapping relationship respectively. In order to reduce the master-slave control precision caused by the inevitable manual jitter, the master-slave mapping model is proposed. In this paper, a weighted recursive mean digital filter is designed to eliminate the hand jitter. Based on the theoretical analysis, this paper uses Falcon as a virtual force feedback tactile device and a master-slave control PMAC card as a motion control card. With the help of Visual C platform and Open GL and Chai3D function library, the prototype of the system is constructed and the experiments are carried out. The experimental results show that the virtual feedback is realistic and the master-slave control is effective.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TP391.9;R61

【參考文獻(xiàn)】

中國(guó)期刊全文數(shù)據(jù)庫(kù) 前10條

1 郭煜;秦t，

本文編號(hào)：1673812