本文選題：虛擬手術(shù) + 半月板手術(shù)��； 參考：《廣東工業(yè)大學》2015年碩士論文

【摘要】：得益于內(nèi)窺鏡微創(chuàng)手術(shù)在醫(yī)療領(lǐng)域的廣泛應(yīng)用,越來越多的患者選擇該手術(shù)取代傳統(tǒng)的開放式手術(shù)。由于微創(chuàng)手術(shù)操作難度高、初級醫(yī)生培訓(xùn)手段缺乏且周期長,使得微創(chuàng)手術(shù)普及受到限制。虛擬手術(shù)仿真系統(tǒng)是虛擬現(xiàn)實技術(shù)在現(xiàn)代醫(yī)學領(lǐng)域的全新應(yīng)用,該系統(tǒng)為手術(shù)培訓(xùn)以及術(shù)前預(yù)演提供一種新的手段,它具有交互性強、實時性好、沉浸感深等特點。目前,虛擬手術(shù)仿真系統(tǒng)已成為國際生物醫(yī)學工程、計算機仿真等領(lǐng)域研究的重點課題。膝關(guān)節(jié)鏡半月板手術(shù)是最常見的關(guān)節(jié)鏡手術(shù)之一,該手術(shù)對醫(yī)生的手眼協(xié)調(diào)能力要求較高。力反饋交互是虛擬手術(shù)研究的重點內(nèi)容之一,操作者通過力反饋技術(shù)感受虛擬場景中的力／觸覺并作出實時、精準的反應(yīng)。本文基于力反饋裝置設(shè)計和力覺交互,開發(fā)虛擬膝關(guān)節(jié)鏡半月板手術(shù)交互系統(tǒng)。本研究的主要內(nèi)容如下：(1)交互裝置設(shè)計及運動控制分析。根據(jù)膝關(guān)節(jié)鏡手術(shù)的操作特點和功能需求,完成交互裝置的結(jié)構(gòu)設(shè)計,分析裝置操作的運動特性,最終給出系統(tǒng)控制方案。(2)半月板物理模型構(gòu)建與反饋力計算。分析半月板生物力學特點,確定虛擬手術(shù)交互系統(tǒng)中半月板的物理模型,并對模型的形變進行分析。視覺頻率與觸覺頻率并不相同,但它們處于各自的刷新循環(huán)中。本文給出仿真與觸覺的數(shù)據(jù)通訊結(jié)構(gòu)原理圖,以及模型受到作用后的反饋力計算方法。(3)力反饋場景交互設(shè)計。該部分研究內(nèi)容包括力反饋交互控制流程圖、連接軟件和硬件接口、虛擬模型運動需求分析。在模型交互過程中,選擇適當?shù)呐鲎矙z測算法,并對力覺信息進行處理和反饋。(4)虛擬半月板手術(shù)系統(tǒng)開發(fā)。介紹虛擬半月板手術(shù)系統(tǒng)的框架及各功能模塊,采用醫(yī)學仿真軟件SOFA開發(fā)一個具有力反饋功能的虛擬膝關(guān)節(jié)半月板手術(shù)系統(tǒng),最終實現(xiàn)能夠滿足膝關(guān)節(jié)鏡手術(shù)培訓(xùn)需要的手術(shù)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.
【學位授予單位】：廣東工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：R687.4;TP391.9

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