Multipoint contact force sense feedback system orienting virtual reality dental department operation training

Abstract

The invention discloses a multipoint contact force sense feedback system orienting virtual reality dental department operation training. In the multipoint contact force sense feedback system, a force feedback equipment state reading module (1) reads a handle motion trail of force feedback equipment (44), converts the handle motion trail into a force sense tool terminal pose and outputs the force sense tool terminal pose to a tool model (41) and a force / torque computation module (4); a spherical tree collision detection module (2) carries out collision rejection processing on a dynamic force sense tool sphere tree output by the tool model (41) and a static dentition sphere tree output by a multilayer tooth model (42) by adopting a layering recursion collision detection strategy, so as to obtain all the intersected sphere pairs of leaf nodes; a multipoint contact collision response module (3) processes all the intersected spheres of the leaf nodes by adopting a collision response optimization model, so as to obtain a terminal pose of a graphic tool; and the force / torque computation module (4) processes the terminal pose of the graphic tool according to a generalized spring force model, so as to obtain a feedback force / torque, and the feedback force / torque is acted onto the force feedback equipment (44). The multipoint contact force sense feedback system disclosed by the invention can accurately solve a contact position and a posture of the graphic tool and a virtual dentition surface during continuous collision detection.

Description

technical field [0001] The present invention relates to a dental operation training system suitable for virtual reality, more particularly, refers to a multi-point contact force feedback system in the collision detection stage based on force sense synthesis technology. Background technique [0002] In the "Chinese Science" magazine, Volume 39, No. 1, 2009, the article "Forcesense Synthesis Technology Oriented to Dental Surgery Training" was published. in this article Figure 4 A computational structural framework for force-sensing synthesis techniques is introduced in . In the process of determining the contact state, it is required to study a collision detection algorithm with a high update rate, which can detect the detailed collision information between the virtual avatar and the manipulated object in the virtual environment under the user's random action input. [0003] The contact state determination in the framework of force-sensing synthesis computing structure can b...

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Problems solved by technology

[0005] In order to solve the visual penetration phenomenon of the graphic tool 100 and the virtual dentition 20 in virtual reality dental operation training, and the defects of unrealistic interaction force, the present invention proposes a multi-point contact force feedback system, which can accurately solve continuous collisions The contact position and posture of the graphic tool 100 and the surface of the virtual dentition 20 during detection

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