虚拟膝关节镜手术中游离体实时模拟技术研究

Real-time Simulation of Loose Body in Virtual Arthroscopic Knee Surgery

针对游离体摘除手术的特点,在分析游离体的生理环境和受力特点的基础上,建立了虚拟游离体的动力学微分方程及其数值求解方法;为在虚拟关节镜手术中更加真实的模拟游离体摘除手术提供了有效方案。通过计算游离体运动状态,建立了仿真系统的控制流程和数值计算算法。在实时模拟的计算过程中,根据游离体的碰撞情况、速度、当前受力的状态,选择中点插值法或欧拉法插值的数值计算方法,保证游离体的运动状态的连续性。最后利用该方法在glut窗口系统下建立了基于数据手套的膝体游离体摘除仿真交互系统,达到了预期的模拟效果。

Regarding the remove of loose bodies surgery features,the physiological environment and force characteristics of loose body are analysed.In order to be more realistic simulation of loose body over knee in virtual arthroscopic surgery,dynamics differential equation and numerical solution are founded.The control flow of the simulation system and numerical algorithms are set up by calculating the move status of loose body.During simulation process,the program choose suitable numerical method： mid-point interpolation or Euler,so the loose body moves sequent,according to collision,velocity and stress.In conclusion,a virtual arthroscopy interactive simulation system based Data-glove is founded,which is devoted to remove loose body over knee,and the desired simulation results are achieved.