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中文摘要：
为提高支持力/触觉反馈的虚拟肝脏手术仿真系统的精度和实时性,提出了一种基于物理意义的平行菱形链连接变形模型.该模型中由于各个链结构单元中菱形的长度等比例变化,计算量小,改变链结构单元中菱形的长度和夹角就可方便地对不同的柔性体进行建模.同时还讨论了系统的结构设计、柔性体形变计算、快速碰撞检测和实时力/触觉反馈操作等.基于6-DOF Delta手控器建立试验平台,并结合力/触觉反馈计算实现了虚拟肝脏手术的拉拽、按压等变形仿真.实验结果表明,该系统力/触觉感觉平稳、模拟效果逼真,能够满足虚拟现实系统对精细作业和实时性的要求.建立简单逼真的物理变形模型和精确快速的碰撞检测算法,有助于提高虚拟肝脏手术仿真系统的性能.
英文摘要：
In order to improve the precision and real-time performance of a virtual liver surgery simulation system with haptic feedback, a novel parallel rhombus-chain-connected deformation model based on physics is proposed. In this model because the rhombus in every chain structure unit are proportional in length and the calculation cost is less, deformation modeling is easier for different soft objects by only changing the length and angle of the rhombus. Moreover, system structure design, deformation calculation of soft tissue, fast collision detection and real-time force feedback operation are also discussed in detail. Surgery deformation of virtual liver such as stretching and pressing are simulated on the experimental platform based on a 6-DOF （degrees-of-freedom） delta hand controller by using the proposed deformation model and the force feedback algorithm. Experimental results show that the system can provide a stable force to the human operator without vibration, and they satisfy well the requirements of real-time performance and precision. Establishing a simple and lifelike physics deformation model and a precise and rapid collision detection algorithm favors the performance improvement of the virtual liver surgery simulation system.
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