中文摘要：

介绍了一种膝关节镜手术仿真系统，主要对系统结构设计、快速碰撞检测、软组织形变和实时力反馈计算等方法进行讨论，提出了基于八又树分割的坐标轴层次包围盒碰撞检测算法和残弹性有限元半隐式模型，并结合力反馈计算实现了四类膝关节镜手术的仿真．通过应用，表明系统能够满足临床手术训练的需要。

英文摘要：

A simulation system for arthroscopic knee surgery was introduced and the methods of related techniques such as system structure design, fast collision detection, deformations of soft tissues and real-time force feedback calculation were discussed. A collision detection algorithm based on axis-aligned bounding boxes hierarchies of octree and an elastic finite element semi-implicit model were proposed. Combing force feedback calculation, four kinds of arthroscopic knee surgery were simulated. By application, this system can satisfy the requirement of clinic surgery training.