中文摘要：

OpenHaptic是基于PhanToM设备的力反馈模拟编程环境,与原来常用的GHOST SDK编程环境相比有着不可替代的优势;因此,在OpenHaptic环境下进行力反馈相关研究具有十分重要的意义。充分探究了采用OpenHaptic进行空间力反馈模拟的实现方法,在分析现有软组织形变模拟方法的基础上,根据软组织形变模拟对真实感与实时性的要求,建立了一种基于有限元计算模型的形变处理方法。实验结果表明软组织有限元形变模型在OpenHaptic环境下完全满足软组织形变模拟的真实感与实时性要求。较早地探究基于OpenHaptic环境的虚拟手术相关实现技术并做出相应的研究成果对于基于OpenHaptic环境的虚拟手术相关研究具有重要的参考价值。

英文摘要：

OpenHaptic is a programming environment for haptic rendering based on Phantom device. Comparing to the common programming environment, GHOST SDK, it is pretty great and has many unique advantages. So it is very important to do some study about haptie rendering under the OpenHaptic programming environment. Spatial haptic simulation methods were studied based on OpenHaptic. After analyzing all kinds of common methods about soft tissue deformation, and according to the realistic and real-time requirement of soft-tissue deformation, a deformation simulation method was established based on finite element computing model. The experiment result shows that combined with OpenHaptie, the FEM deformation simulation method is also suitable for realistic and real-time requirement of soft-tissue deformation simulation. The realization skills about Virtual Surgery System under the OpenHaptic environment were studied so earlier, and its research is good for the reference of the studies about the Firtual Surgery System under the OpenHaptic programming environment.