Purpose

In this paper, a method for rapidly constructing a virtual surgical simulation system is proposed. A deformation model based on the mechanical properties of the liver and a rapid collision detection between the surgical micro-instruments and the liver tissue are included in this method. The purpose of this work is to improve the accuracy and real time of particle model deformation interaction in virtual surgery system.

Methods

Firstly, a finite element model is established based on the constitutive model parameters of liver tissue. According to the simulation results, a mathematical model of node displacement is established. Secondly, the virtual liver is established based on the fast model reconstruction method, and the virtual manipulator is controlled by Geomagic Touch manipulator. Based on the hybrid bounding box, a rapid collision detection process between the instrument and liver is realized and the proposed deformation method is used to simulate the deformation of liver tissue.

Results

The simulation and experiment results show that the proposed deformation model can achieve high deformation interaction accuracy. The collision detection algorithm based on the hybrid bounding boxes can realize the collision between the liver and the instrument, and the established virtual surgical simulation system can simulate the liver tissue deformation in the case of small loading displacement.

Conclusions

The effectiveness of the collision detection algorithm and deformation model was verified by an established virtual surgery simulation system. The proposed rapid construction method of virtual surgical simulation is feasible.

中文翻译：

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基于肝脏组织力学特性的三角形建模虚拟载体的变形建模

目的

本文提出了一种快速构建虚拟手术仿真系统的方法。该方法包括基于肝脏机械特性的变形模型以及手术微器械与肝脏组织之间的快速碰撞检测。这项工作的目的是提高虚拟手术系统中粒子模型变形相互作用的准确性和实时性。

方法

首先，基于肝脏组织的本构模型参数，建立了有限元模型。根据仿真结果，建立了节点位移的数学模型。其次，基于快速模型重建方法建立虚拟肝脏，并由Geomagic Touch机械手控制虚拟机械手。基于混合边界框，实现了仪器与肝脏之间的快速碰撞检测过程，并提出了变形方法来模拟肝脏组织的变形。

结果

仿真和实验结果表明，所提出的变形模型可以达到较高的变形相互作用精度。基于混合边界框的碰撞检测算法可以实现肝脏与器械之间的碰撞，所建立的虚拟手术仿真系统可以模拟在载荷位移较小的情况下肝脏组织的变形。

结论

建立的虚拟手术仿真系统验证了碰撞检测算法和变形模型的有效性。提出的虚拟手术仿真快速构建方法是可行的。