Modeling method of asymmetric plate spring virtual model capable of realizing flexible force tactile representation

Abstract

The invention discloses a modeling method of an asymmetric plate spring virtual model capable of realizing flexible force tactile representation. The method is characterized in that when a virtual agent is detected to knock any point of the surface of a virtual flexible body, the inside of the local interactive region of the virtual agent and the virtual flexible body is filled with an asymmetric plate spring virtual model under the action of a given virtual contact pulling force; during the interactive process, output feedback is the signal of the haptic information which is calculated by adopting the asymmetric plate spring virtual model and is reflected in the real-time deformation simulation of the flexible body under the pulling force; and the superimposition of the sum of the deformation amounts of all the layers of asymmetric single plate springs is modeled as the surface deformation of the virtual flexible body. The modeling method is easy to calculate; the deformation calculation can be ensured to have higher accuracy; and simulation experiments shown that the virtual model can provide the real-time haptic feedback, have higher reality and have better stability and real-time in the deformation simulation process.

Description

technical field [0001] The present invention relates to a modeling method for force-tactile reproduction, in particular to modeling of an asymmetric leaf spring virtual model for human-computer interaction based on physical meaning for real-time force-tactile reproduction of a flexible body in a virtual surgery simulation process method. Background technique [0002] In practical applications, virtual surgery has the advantages of remote intervention, rational formulation of surgical plans, and reduced surgical costs, and provides a safe and efficient learning and training method that is separated from the entity. With the continuous deepening of virtual surgery, the fidelity and real-time performance of virtual surgery will continue to improve. It will be more widely used in the field of surgical simulation in the future and will play a huge role. [0003] Haptic force is an important part of human sensory organs. In virtual surgery, the introduction of haptic force feedba...

AI Technical Summary

Problems solved by technology

[0004] At present, there are five commonly used modeling methods for real-time force-tactile reproduction of flexible bodies based on physical meaning: ①The spring-mass model has the advantages of intuitive and simple mesh construction, and the joint equations are easy to solve, but it is easy to solve recursively Cause unstable oscillation phenomenon, resulting in inaccurate simulation results

②The finite element model has high simulation accuracy and realism, but the large amount of calculation has become the main obstacle to its application in real-time simulation

③The discretization accuracy of the chain model is still not high, and the deformation is determined by the geometric structure of the chain, so the simulated object is not realistic enough. In addition, the realization of this model inevitably requires a high amount of calculation

④ In the process of solving the boundary element model, although the system simulation scale is small, there are certain difficulties in terms of stability

⑤The shape-preserving chain model has the advantage of good real-time performance, but based on the assumption that the chain elements are rigid bodies, the accuracy is not high

The above shows that these commonly used modeling methods for real-time force tactile reproduction of flexible bodies have problems such as relatively complicated calculations and low simulation accuracy, which in turn affects the real-time and effectiveness of calculations.

In addition, due to the complexity, difference, and diversity of the flexible body of the human body, the existing commonly used modeling methods for real-time force-tactile reproduction of flexible bodies based on physical meaning are not ideal in terms of deformation effects.

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