面向虚拟介入手术的电磁力反馈模型的设计与仿真

Designing and Simulation of Electromagnetic Force Feedback Model Focusing on Virtual Interventional Surgery

为满足虚拟血管介入手术中力触觉反馈的实时性和精准性,采用磁悬浮原理设计一种力反馈模型生成虚拟介入手术中的周向旋转力触觉.通过分析通电线圈磁场特性和介入手术操作模式,首先设计电磁线圈阵列的拓扑结构和手术器械模型;随后针对线圈阵列提出最优电流分配策略并进行仿真验证;最后通过模型融合方法构建力矩-电流预测模型.实验结果表明,该模型能以3%的误差、40 Hz的频率预测出电流,结合最优电流分配策略可对介入手术中的关键力反馈进行实时、精确还原.

In order to generate the haptic force real-timely and accurately in virtual vascular intervention,an electromagnetic force feedback model is designed based on magnetic levitation principle to create the circum-ferential rotation haptic force.By analyzing the magnetic field characteristics of the electrified coil and the op-eration pattern of the interventional surgery,firstly the topological structure of the electromagnetic coil array and the surgical instrument model are proposed.Then the optimal current allocation strategy for the coil array is suggested and verified by simulation.Finally,the torque-current prediction model is established by utilizing the model fusion method.The experiments show that the proposed model can calculate the current with 3%error and at a frequency of about 40 Hz.Combined with the optimal current allocation strategy,the crucial force feedback can be realized real-timely and accurately.