Real-time haptic model for soft tissue deformation in surgery simulation

The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected haptic deformation model based on physics is proposed for an excellent haptic rendering.During the modelling,the accumulation of relative displacements in every chain structure unit in each layer is equal to the deformation on the virtual object surface,and the resultant force of corresponding springs is equivalent to the external force.The layered rhombus-chain-connected model is convenient and fast to calculate,and can satisfy real-time requirement due to its simple nature.Simulation experiments in virtual human liver based on the proposed model are conducted,and the results demonstrate that our model provides stable and realistic haptic feeling in real time.Meanwhile,the display result is vivid.

Precise perception of virtual object position in real world

There is a deviation between actual and theoretical perceived positions of virtual object in stereoscop-ic display.Therefore,methods for precise position perception in real world are proposed in this paper.The causes for the deviation are analyzed on the basis of geometrical optics .Then deviation correctionsare performed by error compensation with mathematic method and by remodeling virtual viewpoint dynami-cally with the movement of physical viewpoint.Experimental results show that these methods can reducethe position deviation to less than 10 millimeter,meeting the requirements for direct manipulation in mul-ti-sensory virtual environment.

快速虚顶点光子映射的焦散绘制

目的模拟绘制焦散效果是真实感图形绘制的重要组成部分。利用可编程GPU硬件,基于图像的光子映射方法绘制速度快,但由于使用了近似采样和计算,会产生失真。为了克服这一现象,针对理想的镜面反射、折射体,提出一种快速绘制焦散效果的方法(VOBPBT)。方法该方法首次定义了光子路径映射图的概念,并提出通过基于虚顶点光子映射的光子束跟踪来准确构建光子路径映射图的方法;此外,方法也创新性地提出利用光子路径映射图来查找焦散三角形,创建焦散映射图的方法。结果实验结果表明,本文绘制结果真实,可以处理多次递归反射、折射,能够绘制连贯的高频焦散效果,同时可以达到交互的绘制性能。结论本文VOBPBT方法在可交互计算机仿真、计算机游戏、虚拟漫游等应用领域具有一定的实用价值。

基于硬件加速的反射和折射场景的辐射度方法

镜面反射、折射场景的辐射度计算是非常耗时的过程。通过引入光学映射虚物体的概念,并且提出了统一创建反射和折射虚物体的方法,在非漫射环境辐射度计算时,采用处理实际物体一样的方法处理虚物体,这样,形状因子和附加形状因子的计算都可以借助图形硬件加速来完成。基于同样的通过引入虚物体而利用图形硬件加速的思想,利用支持OpenGL的图形硬件加速卡,实现了具有镜面反射和折射效果的辐射度场景的实时绘制。结果表明,利用图形硬件是提高真实感图形绘制速度的有效手段。

景物空间的镜面反射(折射)现象绘制方法

为了提高视点相关的镜面反射(折射)现象的绘制速度和绘制质量,提出了计算任意曲面反射(折射)光学映射虚物体的方法。该方法根据实际物体在反射/折射体中所成的像创建虚物体,利用图形加速硬件像处理实际三维物体一样绘制这些虚物体,将得到的关于虚物体的图像与实际反射/折射体的图像相混合,就可以得到有反射/折射效果的最终图像。实验结果表明:该方法可以克服光线跟踪方法当空间点采样不足时所带来的走样问题。该方法利用图形硬件加速,提高了绘制的速度。