虚拟软组织针刺与力觉交互

Virtual Needle Insertion and Haptic Interaction

对人体软组织进行针刺/穿刺是临床医学普遍使用的诊疗手段,对医者的操作水平要求较高,因此亟需逼真、有效的训练模式。解决方案之一是采用虚拟现实技术来提供针刺训练。针刺过程中软组织的变形仿真和穿刺针与软组织互相作用导致的力觉交互,是实现虚拟针刺训练平台的关键问题。为了解决此难题,我们研究了针刺过程的力学模型,采用线性有限元模型实现了软组织的变形仿真,基于线性插值来计算摩擦力,构建了穿刺针和软组织的粘滑运动模型,较好的反映了软组织针刺过程中的物理现象和特性,并实现了软组织针刺的力觉交互。实验结果表明,仿真过程和力觉交互能够较为真实地体现软组织针刺过程。

Needle insertion or puncture has been widely practiced in clinical medicine. A VR based training system for needle insertion was implemented in this study. The mechanical model during insertion process was designed. Linear element model was applied to realize the simulation of soft tissue deformation. The friction and the stick-slip motion model between the puncture needle and the soft tissue were implemented to simulate the force interaction between needle and soft tissue. The haptic interaction of needle insertion was realized as well to enhance the user experience. The experiment results show that the simulation can reflect the process of the needle insertion.