Virtual flexible body deformation operation simulation system supporting haptic feedback

Abstract

The invention discloses a virtual flexible body deformation operation simulation system supporting haptic feedback. The system is characterized by adopting a novel physical significance-based equal pitch conical helical spring haptic modelling method, wherein in the method, the superposition of the sum of the deflection of each layer of equal pitch conical helical spring is externally equal to the deformation on the surface of a flexible body; and the sum of the consumed external force when each layer of equal pitch conical helical spring which is connected with adjacent layer of equal pitch conical helical spring initially contacts is equal to a given virtual contact force of a given surface of the flexible body. The modelling method is simple; the deformation calculating process is simple and convenient; and higher precision of deformation simulation can be guaranteed. The system can better simulate virtual deformation simulation when a virtual agent presses the flexible body and can make operators actually sense haptic information in a simulation process in real time in an interactive process.

Description

technical field [0001] The invention relates to a virtual flexible body operation simulation system supporting force tactile feedback, which belongs to the field of virtual reality human-computer interaction. Background technique [0002] With the rapid development of haptic human-computer interaction technology, more and more researchers are applying haptic interaction equipment to virtual surgery, so that doctors can not only see but also pass through the movement and virtual flexibility of the arm during the surgical simulation process. interact with the virtual object, so as to form a complete understanding of the virtual surgical environment, and can truly feel the force-tactile information generated when interacting with the virtual object in real time like operating a real object, which will undoubtedly make surgical training more realistic, accurate, and reliable. [0003] Most of the organs or tissues of the human body are flexible bodies, and the flexible body of ...

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Problems solved by technology

[0003] Most of the organs or tissues of the human body are flexible bodies, and the flexible body of the human body has the characteristics of rich blood flow, dense blood vessel distribution, special and complex structure, and high difficulty in surgery. However, most of the traditional imaging examinations provide two-dimensional plane images. It is impossible to use surgical instruments to perform surgical simulation in advance, let alone experience real-time force-tactile feedback in advance, which is blind and unreliable for some complex surgical operations

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