面向虚拟手术系统的力反馈的研究与实现
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摘要
由于虚拟现实和人机交互的发展,基于电脑的虚拟手术的好处已经被许多调查者广泛的讨论和示范证明。这些好处拓展了手术训练的能力。它可以提供不同的训练场景,包括解剖的个体差异(性别,大小),病理的不同(内伤,外伤),操作场景(急诊室,太空,战场)。除了这些好处,能够大量增加训练的次数,以及把能够模拟出不同的结果作为主要的好处之一。手术界希望把它作为未来鉴定手术技能的手段。另外还可以通过基于电脑的手术模拟来加快医生获取手术技能。其中这些好处中最重要的就是这些所有的好处的前提是在不对病人有风险的情况下。
我们初步实现了一个虚拟手术系统,系统更加强调系统模块化。并且我们用OpenHaptics API实现了PHANToM与虚拟场景中的交互。我们的系统采用的c++以及结合OpenGL,是在MFC下开发的。我们的器官和手术器械的模型都是在maya下建模的。我们的系统可以支持各种不同的文件格式的读入,比如obj,Mesh文件等,强调了实时性。力反馈设备我们采用的是PHOANTOM omni,它是一个六维的力反馈的设备。系统现在可以很好的模拟出刚体的力反馈效果,并且对于软体我们也实现了基本的力反馈效果。
在虚拟手术中关于点的交互是相当普遍的,例如切割,探测等。在虚拟手术中点的交互主要是分为刚体和软体的力反馈模型。由于虚拟手术对实时性要求比较高,因此速度是一个很关键的问题。在刚体的点力反馈模型中采用的优化的God-Object方法,而在软体的力反馈模型中采用比较真实的物理模型,采用的方法是分层的质点弹簧模型,由于在弹簧模型中,力是由近及远来传播,因此我们采用了分层的思想,到深层的质点的位移以及弹簧的伸缩可以忽略,因此这样可以减少计算,加快算法,我们采用的网格结构是立方体网格,而且我们都是假定它们都具有相同的弹力系数。
With the development of virtual reality and human interaction, virtual surgery has been developed. There are a lot of benefits about virtual surgery. The benefits include the ability to broaden surgical training by easily providing different training scenarios, including anatomical variations (gender, size), pathologies (diseases, trauma), and operating environment conditions (emergency room, microgravity, battlefield). In addition to these benefits, the ability to objectively quantify surgical performance and perhaps simulate the result of an intervention has been cited as a major benefit and drawn the attention of surgical societies as a future means of precertification. Besides these benefits, the potential to accelerate the acquisition of baseline surgical skills through the use of computer-based simulation has also been identified. Perhaps the most important feature of all is that computer-based simulation can realize all these benefits without risk to any real patients.
Our surgical simulation system with soft-tissue modeling is written in C++ with OpenGL for graphics; MFC and GLUT for user interface; and supports parallel processing. It allows for the relatively easy introduction of patient-specific anatomy and support many common file formats. Many virtual tools have been created using Maya and their interactions with tissue have been implemented. Our haptics device is Phantom omni.
We do research about the point haptics in virtual surgery. Because VR and HI have been developed recently, the virtual surgery has been developed a lot. And there are a lot of applications about the point haptics for example cutting and probing. So we mainly do research in this aspect. The interaction in the virtual surgery mainly includes interaction of rigid objects and deformable objects. Because the virtual surgery requires a lots about the real time, so the speed is the important issue. In the rigid objects interaction we used the God-Object method which we optimized. And for the deformable object the Spring-Mass model with hierarchy is used. When the deformability is caused, the haptics spreads from the haptics point to the mass points which they are linked. In this way it can decease the times of the computation. In our application we used the cube grid, and we presume that the spring has the same coefficient.
我们初步实现了一个虚拟手术系统,系统更加强调系统模块化。并且我们用OpenHaptics API实现了PHANToM与虚拟场景中的交互。我们的系统采用的c++以及结合OpenGL,是在MFC下开发的。我们的器官和手术器械的模型都是在maya下建模的。我们的系统可以支持各种不同的文件格式的读入,比如obj,Mesh文件等,强调了实时性。力反馈设备我们采用的是PHOANTOM omni,它是一个六维的力反馈的设备。系统现在可以很好的模拟出刚体的力反馈效果,并且对于软体我们也实现了基本的力反馈效果。
在虚拟手术中关于点的交互是相当普遍的,例如切割,探测等。在虚拟手术中点的交互主要是分为刚体和软体的力反馈模型。由于虚拟手术对实时性要求比较高,因此速度是一个很关键的问题。在刚体的点力反馈模型中采用的优化的God-Object方法,而在软体的力反馈模型中采用比较真实的物理模型,采用的方法是分层的质点弹簧模型,由于在弹簧模型中,力是由近及远来传播,因此我们采用了分层的思想,到深层的质点的位移以及弹簧的伸缩可以忽略,因此这样可以减少计算,加快算法,我们采用的网格结构是立方体网格,而且我们都是假定它们都具有相同的弹力系数。
With the development of virtual reality and human interaction, virtual surgery has been developed. There are a lot of benefits about virtual surgery. The benefits include the ability to broaden surgical training by easily providing different training scenarios, including anatomical variations (gender, size), pathologies (diseases, trauma), and operating environment conditions (emergency room, microgravity, battlefield). In addition to these benefits, the ability to objectively quantify surgical performance and perhaps simulate the result of an intervention has been cited as a major benefit and drawn the attention of surgical societies as a future means of precertification. Besides these benefits, the potential to accelerate the acquisition of baseline surgical skills through the use of computer-based simulation has also been identified. Perhaps the most important feature of all is that computer-based simulation can realize all these benefits without risk to any real patients.
Our surgical simulation system with soft-tissue modeling is written in C++ with OpenGL for graphics; MFC and GLUT for user interface; and supports parallel processing. It allows for the relatively easy introduction of patient-specific anatomy and support many common file formats. Many virtual tools have been created using Maya and their interactions with tissue have been implemented. Our haptics device is Phantom omni.
We do research about the point haptics in virtual surgery. Because VR and HI have been developed recently, the virtual surgery has been developed a lot. And there are a lot of applications about the point haptics for example cutting and probing. So we mainly do research in this aspect. The interaction in the virtual surgery mainly includes interaction of rigid objects and deformable objects. Because the virtual surgery requires a lots about the real time, so the speed is the important issue. In the rigid objects interaction we used the God-Object method which we optimized. And for the deformable object the Spring-Mass model with hierarchy is used. When the deformability is caused, the haptics spreads from the haptics point to the mass points which they are linked. In this way it can decease the times of the computation. In our application we used the cube grid, and we presume that the spring has the same coefficient.
引文
[1]蔡及时,孙汉秋,王平安.应用于网上虚拟手术的自适应变形模型[J].软件学报,2002,13(9):1893-1898.
[2]吴娟,宋爱国,李建清.一种基于物理意义的快速力反馈形变模型及实时力觉响应算法[J].传感技术学报,2005,18(1):90-94
[3]A.M.Okamura et al.The Haptic Scissors:Cutting in Virtual Environments.Proc.IEEE Int'1 Conf.Robotics and Automation(ICRA 03),vol.1,IEEE CS Press,2003,828-833.
[4]V.Hayward and D.Yi.Change of Height:An Approach to the Haptic Display of Shape and Texture Without Surface Normal.Experimental Robotics Ⅷ,Springer Tract in Advanced Robotics 5,B.Siciliano and P.Dario,eds.,Springer-Verlag,2003,pp.570-579.
[5]C.Zilles and J.K.Salisbury.A Constraint-Based God-Object Method for Haptic Display.Proc.IEE/RSJ Int'1 Conf.Intelligent Robots and Systems,Human Robot Interaction,and Cooperative Robots,vol.3,IEEE CS Press,1995,146-151.
[6]K.Lundin,B.Gudmundsson,and A.Ynnerman.General proxy-based haptics for volume visualization.In Proc.World Haptics Conference,Pisa,Italy,Mar.2005.
[7]E.Vidholm and I.Nystr"om.A haptic interaction technique for volume images based on gradient diffusion.In Proc.World Haptics Conference,Pisa,Italy,Mar.2005.
[8]E.M'endez,S.Yoshida,H.Noma,R.W.Lindeman,Y.Yanagida,S.Masaki,and K.Hosaka.A haptic-assisted guidance system for navigating volumetric data sets.In Proc.World Haptics Conference,Pisa,Italy,Mar.2005.
[9]A.Mascarenhas,S.Ehmann,A.Gregory,M.Lin,and D.Manocha.Six degree-of-freedom haptic visualization.In Proc.Touch in Virtual Environments,Los Angeles,CA,Feb.2001.
[10]M.A.Otaduy and M.C.Lin.Stable and responsive six-degree-of freedom haptic manipulation using implicit integration.In Proc.of the World Haptics Conference,2005.
[11]张惠.医学图像中的虚拟现实技术:三维医学图像数据处理及显示框架.[硕士学位论文],江苏:东南大学,2000
[12]Helwig Hauser,Lukas Mroz,Gian-Italo Bischi.Two level volume rendering-fusing MIP and DVR。http://www.cg.tuwien.ac.at/research/vis/-bandviz/two-leve/1.
[13]Digital Definitions 22209 USA Imaging and Communications in National Electrical Manufacturers Medicine(DICOM)Part 3:Information Object Association 1300 N.17th Street Rosslyn,Virginia 1998
[14]J.P.R olland,L.D.D avis,Y Baillot.A survey of tracking technology for virtual environments,in Augmented Reality and Wearable Computers.Ed.Bardfield and Caudell,2000.
[15]James D.L.,Pal DK.A unified treatment of elastostatic and rigid contact simulation for real time haptics.Haptics-e,the Electronic Journal of Haptics Research.2001,2(1),http://www.haptics-e.org
[16]Nahvi,A;Nelson,et al.Haptic manipulation of virtual mechanisms from mechanical CAD designs.Proc.IEEE Intl.Conf.Robotics and Automation,Leuven,Belgium,1998,375-380
[17]G.Picinbono,H.Delingete,N.Ayache.Nonlinear and anisotropic elastic soft tissue models for medical simulation.Proceedings of the IEEE International Conference on Robotics and Automation,2001,2:1370-137
[18]王勇军,吴鹏,郭光友,谭坷.支持力反馈的鼻腔镜虚拟手术仿真系统.系统仿真学报,2001,13(3):404-407
[19]原魁,朱海兵,杜清秀.一种虚拟现实系统接触交互接口.中国体视学与图象分析.2001,6(3):27-30
[20]B.R.Donald and F.Henle.Using haptic vector fields for animation motion control.In Proc.IEEE International Conference on Robotics and Automation,pages 3435-3442,San Francisco,CA,Apr.2000.
[21]阎丽霞.虚拟手术关键技术研究[博士学位论文].浙江大学,2000.
[22]邢英杰,张少华,刘晓冰.虚拟手术系统技术现状[J].计算机工程与应用40(7).88-90,2004
[23]减爱云.虚拟手术系统中的接触交互技术研究[博士学位论文].中国科学院自动化研究所,2004
[24]F.Barbagli,K.Salisbury,and D.Prattichizzo.Dynamic local models for stable multi-contact haptic interaction with deformable objects.HAPTICS,2003.
[25]D.Constantinescu,S.E.Saludean,and E.A.Croft.Haptic rendering of rigid body collisions.Proc.of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems,2004.
[26]M.A.Otaduy and M.C.Lin.Stable and responsive six-degree-of freedom haptic manipulation using implicit integration.In Proc.Of the World Haptics Conference,2005.
[27]D.R.Wilhelmsen.A nearest point algorithm for convex polyhedral cones and applications to positive linear approximations.Mathematics of computation,30,pp 48-57,1976.
[28]S.Kim,S.Hasegawa,Y.Koike,and M.Sato.Tension based 7-dof force-feedback device:SPIDAR-G.IEEE Virtual Reality Conference Proc.,March 2002.
[29]S.Wang and M.A.Srinivasan.The role of torque in haptic perception of object location in virtual environments,llth Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems,2003.
[30]A.Gregory,A.Mascarenhas,S.Ehmann,M.Lin,and D.Manocha.Six degree-of-freedom haptic display of polygonal models.Proc.Of IEEE Visualisation,2000.
[31]Morten Bro-Nielsen.Finite Element Modeling in Surgery Simulation. Proceedings of the IEEE,(86)3,1998
[32]L.Kim,A.Kyrikou,G.S.Sukhatme,and M.Desbrun.An implicit based haptic rendering technique.Intelligent Robots and System,2002.
[33]C.Ho,C.Basdogan,and M.A.Srinivasan.Efficient point-based rendering techniques for haptic display of virtual objects.In Presence 8(5),pages 477-491,1999.
[34]A.Gregory,A.Mascarenhas,S.Ehmann,M.Lin,and D.Manocha.Six degree-of-freedom haptic display of polygonal models.Proc.Of IEEE Visualisation,2000.
[35]R.Balaniuk.Using fast local modeling buffer haptic data.Proc.Of Fourth PHANTOM Users Group Workshop,1999.
[36]D.C.Ruspini,K.Kolarov,and O.Khatib.The haptic display of complex graphical environments.Computer Graphics(Proc.SIGGRAPH 97),August 1997.
[37]h AI-khalifah,D Roberts.Survey of modeling approaches for medical simulators[J].The International Conference Series on Disability,Virtual Reality and Associated Technologies(2004)
[38]Megumi Nakao.Cardiac Surgery Simulation with Active Interaction and Adaptive Physics-Based Modeling.Apartment of Social Informatics,Graduate School of Informatics,Kyoto University,Japan,2003
[39]Digital Definitions 22209 USA Imaging and Communications in National Electrical Manufacturers Medicine(DICOM)Part 3:Information Object Association 1300 N.17th Street Rosslyn,Virginia 1998
[40]张惠,医学图像中的虚拟现实技术:三维医学图像数据处理及显示框架,[硕士学位论文],江苏:东南大学,2000
[41]Vining DJ,Gelfand DW,Noninvasive colonoscopy using helical CT scanning 3D reconstruction,SGR Scientific Program 1994,70.
[42]Vining DJ,Shifrin RY,Grishaw EK,et al.Virtual colonoscopy (abstract).Radiology 1994 193:446
[43] R . A. Robb. Virtual endoscopy: development and evaluation using the Visible Human Datasets Computerized Medical Imaging and Graphics 24(2000),133-151
[2]吴娟,宋爱国,李建清.一种基于物理意义的快速力反馈形变模型及实时力觉响应算法[J].传感技术学报,2005,18(1):90-94
[3]A.M.Okamura et al.The Haptic Scissors:Cutting in Virtual Environments.Proc.IEEE Int'1 Conf.Robotics and Automation(ICRA 03),vol.1,IEEE CS Press,2003,828-833.
[4]V.Hayward and D.Yi.Change of Height:An Approach to the Haptic Display of Shape and Texture Without Surface Normal.Experimental Robotics Ⅷ,Springer Tract in Advanced Robotics 5,B.Siciliano and P.Dario,eds.,Springer-Verlag,2003,pp.570-579.
[5]C.Zilles and J.K.Salisbury.A Constraint-Based God-Object Method for Haptic Display.Proc.IEE/RSJ Int'1 Conf.Intelligent Robots and Systems,Human Robot Interaction,and Cooperative Robots,vol.3,IEEE CS Press,1995,146-151.
[6]K.Lundin,B.Gudmundsson,and A.Ynnerman.General proxy-based haptics for volume visualization.In Proc.World Haptics Conference,Pisa,Italy,Mar.2005.
[7]E.Vidholm and I.Nystr"om.A haptic interaction technique for volume images based on gradient diffusion.In Proc.World Haptics Conference,Pisa,Italy,Mar.2005.
[8]E.M'endez,S.Yoshida,H.Noma,R.W.Lindeman,Y.Yanagida,S.Masaki,and K.Hosaka.A haptic-assisted guidance system for navigating volumetric data sets.In Proc.World Haptics Conference,Pisa,Italy,Mar.2005.
[9]A.Mascarenhas,S.Ehmann,A.Gregory,M.Lin,and D.Manocha.Six degree-of-freedom haptic visualization.In Proc.Touch in Virtual Environments,Los Angeles,CA,Feb.2001.
[10]M.A.Otaduy and M.C.Lin.Stable and responsive six-degree-of freedom haptic manipulation using implicit integration.In Proc.of the World Haptics Conference,2005.
[11]张惠.医学图像中的虚拟现实技术:三维医学图像数据处理及显示框架.[硕士学位论文],江苏:东南大学,2000
[12]Helwig Hauser,Lukas Mroz,Gian-Italo Bischi.Two level volume rendering-fusing MIP and DVR。http://www.cg.tuwien.ac.at/research/vis/-bandviz/two-leve/1.
[13]Digital Definitions 22209 USA Imaging and Communications in National Electrical Manufacturers Medicine(DICOM)Part 3:Information Object Association 1300 N.17th Street Rosslyn,Virginia 1998
[14]J.P.R olland,L.D.D avis,Y Baillot.A survey of tracking technology for virtual environments,in Augmented Reality and Wearable Computers.Ed.Bardfield and Caudell,2000.
[15]James D.L.,Pal DK.A unified treatment of elastostatic and rigid contact simulation for real time haptics.Haptics-e,the Electronic Journal of Haptics Research.2001,2(1),http://www.haptics-e.org
[16]Nahvi,A;Nelson,et al.Haptic manipulation of virtual mechanisms from mechanical CAD designs.Proc.IEEE Intl.Conf.Robotics and Automation,Leuven,Belgium,1998,375-380
[17]G.Picinbono,H.Delingete,N.Ayache.Nonlinear and anisotropic elastic soft tissue models for medical simulation.Proceedings of the IEEE International Conference on Robotics and Automation,2001,2:1370-137
[18]王勇军,吴鹏,郭光友,谭坷.支持力反馈的鼻腔镜虚拟手术仿真系统.系统仿真学报,2001,13(3):404-407
[19]原魁,朱海兵,杜清秀.一种虚拟现实系统接触交互接口.中国体视学与图象分析.2001,6(3):27-30
[20]B.R.Donald and F.Henle.Using haptic vector fields for animation motion control.In Proc.IEEE International Conference on Robotics and Automation,pages 3435-3442,San Francisco,CA,Apr.2000.
[21]阎丽霞.虚拟手术关键技术研究[博士学位论文].浙江大学,2000.
[22]邢英杰,张少华,刘晓冰.虚拟手术系统技术现状[J].计算机工程与应用40(7).88-90,2004
[23]减爱云.虚拟手术系统中的接触交互技术研究[博士学位论文].中国科学院自动化研究所,2004
[24]F.Barbagli,K.Salisbury,and D.Prattichizzo.Dynamic local models for stable multi-contact haptic interaction with deformable objects.HAPTICS,2003.
[25]D.Constantinescu,S.E.Saludean,and E.A.Croft.Haptic rendering of rigid body collisions.Proc.of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems,2004.
[26]M.A.Otaduy and M.C.Lin.Stable and responsive six-degree-of freedom haptic manipulation using implicit integration.In Proc.Of the World Haptics Conference,2005.
[27]D.R.Wilhelmsen.A nearest point algorithm for convex polyhedral cones and applications to positive linear approximations.Mathematics of computation,30,pp 48-57,1976.
[28]S.Kim,S.Hasegawa,Y.Koike,and M.Sato.Tension based 7-dof force-feedback device:SPIDAR-G.IEEE Virtual Reality Conference Proc.,March 2002.
[29]S.Wang and M.A.Srinivasan.The role of torque in haptic perception of object location in virtual environments,llth Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems,2003.
[30]A.Gregory,A.Mascarenhas,S.Ehmann,M.Lin,and D.Manocha.Six degree-of-freedom haptic display of polygonal models.Proc.Of IEEE Visualisation,2000.
[31]Morten Bro-Nielsen.Finite Element Modeling in Surgery Simulation. Proceedings of the IEEE,(86)3,1998
[32]L.Kim,A.Kyrikou,G.S.Sukhatme,and M.Desbrun.An implicit based haptic rendering technique.Intelligent Robots and System,2002.
[33]C.Ho,C.Basdogan,and M.A.Srinivasan.Efficient point-based rendering techniques for haptic display of virtual objects.In Presence 8(5),pages 477-491,1999.
[34]A.Gregory,A.Mascarenhas,S.Ehmann,M.Lin,and D.Manocha.Six degree-of-freedom haptic display of polygonal models.Proc.Of IEEE Visualisation,2000.
[35]R.Balaniuk.Using fast local modeling buffer haptic data.Proc.Of Fourth PHANTOM Users Group Workshop,1999.
[36]D.C.Ruspini,K.Kolarov,and O.Khatib.The haptic display of complex graphical environments.Computer Graphics(Proc.SIGGRAPH 97),August 1997.
[37]h AI-khalifah,D Roberts.Survey of modeling approaches for medical simulators[J].The International Conference Series on Disability,Virtual Reality and Associated Technologies(2004)
[38]Megumi Nakao.Cardiac Surgery Simulation with Active Interaction and Adaptive Physics-Based Modeling.Apartment of Social Informatics,Graduate School of Informatics,Kyoto University,Japan,2003
[39]Digital Definitions 22209 USA Imaging and Communications in National Electrical Manufacturers Medicine(DICOM)Part 3:Information Object Association 1300 N.17th Street Rosslyn,Virginia 1998
[40]张惠,医学图像中的虚拟现实技术:三维医学图像数据处理及显示框架,[硕士学位论文],江苏:东南大学,2000
[41]Vining DJ,Gelfand DW,Noninvasive colonoscopy using helical CT scanning 3D reconstruction,SGR Scientific Program 1994,70.
[42]Vining DJ,Shifrin RY,Grishaw EK,et al.Virtual colonoscopy (abstract).Radiology 1994 193:446
[43] R . A. Robb. Virtual endoscopy: development and evaluation using the Visible Human Datasets Computerized Medical Imaging and Graphics 24(2000),133-151