数字虚拟人体上针刺手法学的VR再现

Virtual reality of acupuncture manipulation in digital virtual human

背景:将穴位解剖立体构筑形态融入针灸手法学教学,结合数字化虚拟针灸人计划的实施和应用,将能极大地提高教学效果和学习兴趣。目的:对融合了虚拟现实力反馈技术与组织形变技术的针灸虚拟人进行研究。方法:运用虚拟现实技术,以计算机为核心生成逼真的视觉、听觉、触觉一体化的特定范围虚拟环境,采集临床专家针灸手法,匹配能够体现针刺力度、位移和速度感的传感设备,基于虚拟人的图像分割建立人体组织力学模型,搭建虚拟针刺力反馈系统,通过力反馈设备真实地传递给操作者。一方面,基于VOXEL-MAN虚拟人体开发平台,完成了腧穴的针灸学三维浏览器再开发,给人以视觉感知;另一方面,基于近代生物力学理论,运用图形与图像处理技术和力反馈技术进行建模,将针刺时穴位区组织各层结构的受力过程以虚拟现实和力反馈的方式,给人以触觉感知。结果与结论:完成了虚拟针刺力反馈系统人机互动操作平台,操作者既可从显示器中看到毫针进入人体组织的动态过程,又可在力反馈仪控制末端感受到真实反作用力。通过操作力反馈仪控制虚拟环境中的毫针,对虚拟人施行针刺。该系统达到了2个要求:所示与各个组织相互作用所产生的反馈力变化与用仪器测得的真实针灸反馈力数据相近,毫针进入不同的组织,力感变化明显,有随层次递进的感觉;达到逼真的体验。在整个训练过程中,图像显示平滑,虚拟针体反应灵敏,较好地满足了虚拟现实的要求。

BACKGROUND：The three-dimensional structure of acupoint anatomy was integrated into the teaching of acupuncture manipulation. Combined with the implementation and application of the acupuncture and moxibustion in digital virtual human, it can greatly improve the teaching effect and learning interest. OBJECTIVE：To investigate the acupuncture virtual human with integration of virtual reality force feedback technology and tissue deformation. METHODS：Using virtual reality technology, with computer as the core, we generated a specific range of virtual environment with realistic visual, auditory and tactile integration, col ected clinical expert acupuncture technique, matched the sensing equipment that can reflect the intensity, displacement and speed sensing of acupuncture. Based on image segmentation of virtual human, we constructed human tissue mechanics model, built virtual acupuncture-force-feedback system, and faithful y transmitted to the operator by a force feedback device. On one hand, based on VOXEL-MAN virtual human development platform, we finished the three-dimensional browser redevelopment of the science of acupuncture and moxibustion of Shu acupoint, which provided visual perception for people. On the other hand, based on modern biomechanics theory, we established models by graphics and image processing technology and force feedback technology. The stress process of the structure of each layer in the acupuncture point area was given to people in a sense of touch by the manner of virtual reality and force feedback. RESULTS AND CONCLUSION：With the man-machine interactive operation platform of virtual acupuncture force feedback system, operator could see the dynamic process of acupuncture needle into human body, and could feel the real counterforce in the control terminal of force feedback instrument. By operating acupuncture needle in virtual environment of force feedback instrument, acupuncture was performed in virtual human. The system meets the two requirements：the feedback changes produced by tissue interaction were similar to real acupuncture feedback force data measured by instrument. The acupuncture needle entered into different tissues, a sense of power changed significantly;there was progressive feeling with different layers, reaching a realistic experience. During the whole training, the image was smooth;virtual needle was responsive, which better meets the requirements of virtual reality.