摘要
针对虚拟手术中缝合线打结仿真时存在的实时性、逼真度较差等问题,采用质点弹簧系统(Mass Spring System,MSS)方法建模,并结合物体非线性及弯曲特性对其进行受力分析。采用Verlet法数值求解模型动力学方程,并基于跟踪控制点方法实现缝合线运动模拟。提出一种基于层次包围球的模拟受力方法解决缝合线打结过程中的自碰撞检测与响应。仿真结果表明,跟踪控制点方法能有效地完成缝合线的动态仿真,并且通过模拟受力方法能够实现缝合线的打结操作,增加了缝合线运动模拟的逼真度和实时性,提高了仿真效率。
In order to solve the problems of poor real-time and fidelity in the simulation of suture knot in virtual surgery,the Mass Spring System(MSS)method was adopted to model and analyze the force on the object combining with its nonlinear and bending characteristics.The Verlet algorithm was adopted for numerical calculation of the model kinetic equation,and then the suture motion simulation was realized based on the tracking control point method.A simulated force method based on the bounding sphere hierarchy was proposed to solve the self-collision detection and response in the suture knotting process.The simulation results show that the tracking control point method can effectively complete the dynamic simulation of the suture,and the suture can be knotted by the simulated force method,which increases the fidelity and real-time performance of the suture motion simulation and improves the simulation efficiency.
作者
吴昊
张峰峰
詹蔚
王荣淼
WU Hao;ZHANG Feng-feng;ZHAN Wei;WANG Rong-miao(College of Mechanical and Electrical Engineering,Soochow University,Suzhou Jiangsu 215006,China;Collaborative Innovation Center of Suzhou Nano Science and Technology,Suzhou University,Suzhou Jiangsu 215123,China;First Affiliated Hospital,Suzhou University,Suzhou Jiangsu 215006,China)
出处
《计算机仿真》
北大核心
2021年第3期331-335,359,共6页
Computer Simulation
基金
国家重点研发计划资助(2018YFB1307700)。
关键词
虚拟手术
缝合线
受力分析
数值计算
自碰撞检测
Virtual surgery
Suture
Force analysis
Numerical calculation
Self-collision detection
