Modeling method of symmetrical type plate spring virtual model enhancing haptic feedback

A modeling method and virtual model technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as low precision, low calculation precision, difficulty in model construction, and difficulty in parameter selection and simulation effect accuracy. Achieve the effect of improving fidelity, simple calculation, accurate and fast calculation of deformation

Inactive Publication Date: 2011-02-16
NANJING UNIV OF INFORMATION SCI & TECH
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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 a simple structure, easy to implement algorithms and high computational efficiency, and easy to achieve real-time and interactivity, but Due to the limitation of the mechanical structure of the model itself, there are certain difficulties in the model construction of the system, the selection of parameters and the accuracy of the simulation effect, so the accuracy and stability are often unsatisfactory.
② Although the finite element model can accurately and quantitatively simulate the deformation of objects, it involves a large number of complicated calculations and has poor real-time interaction
③ Although the boundary element model discretizes the boundary of the model, which simplifies the calculation, it has certain difficult

Method used

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  • Modeling method of symmetrical type plate spring virtual model enhancing haptic feedback
  • Modeling method of symmetrical type plate spring virtual model enhancing haptic feedback
  • Modeling method of symmetrical type plate spring virtual model enhancing haptic feedback

Examples

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Effect test

Embodiment 1

[0057] 1, a kind of modeling method of the symmetrical leaf spring virtual model that strengthens force tactile reproduction, it is characterized in that the main steps of this modeling method are as follows:

[0058] Step 1 initializes the virtual scene;

[0059] Step 2 When it is detected that the virtual agent collides with the virtual flexible body, that is, in the process of approaching the virtual flexible body, the feedback output is based on the 1 / f noise signal of the orthogonal wavelet base, which can be synthesized through the stochastic process of the Karhunen-Loeve expansion express:

[0060]

[0061] Among them, x(t) is the 1 / f noise signal based on the orthogonal wavelet basis, is a set of uncorrelated, zero-mean random variables with variances satisfying

[0062] var x n m = σ 2 2 - rm - - ...

specific Embodiment 2

[0093] 1. Construct a virtual straight clamp model and a virtual heart model to realize the initialization of the virtual scene.

[0094] All the virtual medical straight forceps and virtual heart models in this example directly adopt the OBJ format exported from 3DS MAX 9.0 software, and the virtual medical straight forceps and 3000 mass points and 6412 triangle meshes are composed of 612 particles and 1207 triangles. The virtual heart model composed of grids is used as an example to carry out deformation simulation. It is very convenient to obtain and modify the model during the experiment; the operating system is Windows 2000, based on 3DS MAX 9.0 and OpenGL graphics library, on the VC++6.0 software development platform Simulation.

[0095] 2. When the virtual straight clamp is close to the virtual flexible body, the feedback outputs a 1 / f noise signal based on the orthogonal wavelet basis.

[0096] The 1 / f noise signal based on the orthogonal wavelet base can be synthesiz...

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Abstract

The invention discloses a modeling method of a symmetrical type plate spring virtual model enhancing haptic feedback, which is characterized by comprising the following steps of: only feeding back and outputting 1/f noise signals based on orthogonal wavelet bases before a virtual agent collides with a virtual flexible body; feeding back and outputting signals obtained by overlying the 1/f noise signals fitting to the response law of human bodies on irritation and the haptic information of the real-time deformation simulation of the flexible body, which is calculated by adopting the symmetrical type plate spring virtual model and responded under the action of pulling force, together in an interactive process, wherein the overlying of the deformation amount sum of each layer of symmetrical type single-plate spring of the symmetrical type plate spring virtual model enhancing the haptic feedback is externally equivalent to the deformation of the surface of the flexible body, and the sum of pulling force consumed when each layer of the symmetrical type single-plate spring is stretched is equivalent to given virtual contact pulling force. The modeling method can realize the real-time deformation simulation of the flexible body, has real haptic feeling and vivid deformation effect and meets the requirements of a virtual reality system on virtual surgery simulation.

Description

technical field [0001] The present invention relates to a modeling method for force-tactile reproduction, in particular to a modeling method for a symmetrical leaf spring virtual model of a flexible body based on physical meaning that enhances force-tactile reproduction in real time during virtual surgery simulation. method. Background technique [0002] With the continuous advancement of modern medicine and its related technologies, surgical operations are gradually developing in the direction of low trauma and high safety. For patients, advanced surgical techniques can make their own wounds small and recover quickly, greatly reducing the pain of patients; for surgeons, surgical techniques and instruments used are becoming more and more complex, requiring a large number of It takes training and practice to master. Therefore, it is of great academic, economic and social significance to carry out virtual surgery simulation on the flexible body of the human body involved in ...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 张小瑞孙伟宋爱国张颖超叶小岭李佳璐张小娜陈刚
Owner NANJING UNIV OF INFORMATION SCI & TECH
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