侧脑室穿刺术的力反馈仿真

Force feedback simulation of lateral ventricle puncture

针对侧脑室训练模型缺乏的问题,提出一种适用于侧脑室穿刺术的虚拟手术培训系统.将软组织与穿刺针交互过程产生的力分为3种,以模拟穿刺力的层次感,从而极大程度上还原穿刺手感.特别地,在形变力分析中构建软组织形变模型,并提出形变模型参数的转化方法.在3种力的基础上,提出穿刺力的力反馈计算模型,结合力反馈设备将其应用于侧脑室穿刺术中.选猪脑组织进行穿刺力实验,结果表明,猪脑穿刺的穿刺力与虚拟穿刺穿刺力间的最大差值为17.25 mN(<20 mN),力的两次突变以及变化趋势具有较高的一致性,能够最大程度上接近真实手术手感.

A virtual surgical training system for lateral ventricular puncture is proposed to address the lack of a lateral ventricular training model.By dividing the forces generated during the interaction between the soft tissue and the puncture needle into three forces to simulate the hierarchy of puncture forces,the puncture feel is greatly recreated.In particular,a soft tissue deformation model is constructed and a transformation method of the deformation model parameters is proposed in the deformation force analysis.A force feedback calculation model of the puncture force is proposed based on the three forces,which is applied to lateral ventricular puncture in combination with a force feedback device.The experimental results demonstrated that the maximum difference between the puncture force of the porcine brain puncture and the virtual puncture force was 17.25 mN(<20 mN),and that the two abrupt changes in force and the trend of change were highly consistent,which was close to the real surgical feel at the maximum level.