Modeling method of plate spring virtual model for force touch reappearance

Abstract

The invention discloses a modeling method of a plate spring virtual model for force touch reappearance, which is characterized in that when the collision of a virtual agent to any one point on the surface of a virtual flexible body is detected, a plate spring virtual model is filled inside an interactive local region of the virtual agent and the virtual flexible body under the given virtual contact tension action, signals of force touch sensation information with the feedback reflected on real-time deformation simulation of the virtual flexible body under the pulling force effect and calculated by adopting the plate spring virtual model are output, the overlapping of the sum of all single plate spring deformation quantity in the plate spring virtual model for the force touch sensation reappearance is externally equivalent to the deformation on the surface of the virtual flexible body, and the sum of consumed tensions of all the single plate springs in the stretching process is equivalent to the given virtual contact tension. The modeling method has the advantages of accuracy, reliability, simple and convenient calculation, good practicability and good universality, can really feedback the force touch sensation information to operators, and realistically realizes the deformation simulation on the virtual flexible body at the real time.

Description

technical field [0001] The present invention relates to a modeling method for force-tactile reproduction, in particular to a modeling method for a virtual model of a plate spring used for real-time force-tactile reproduction of flexible bodies based on physical meaning for human-computer interaction in the process of virtual surgery simulation . Background technique [0002] Virtual surgery has the advantages of interactivity, non-invasiveness, repeatability and customizability. It allows doctors to perform real-time simulation in the virtual environment established by the computer, design the surgical process, the position, angle, force of the knife, improve the doctor's collaboration ability, etc., and allow the doctor to observe the expert surgical process on the virtual surgery system , repeat practice, save costs, avoid risks and reduce surgical complications. [0003] As a new type of surgical training method, virtual surgery is the key to the success of virtual surg...

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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