Hybrid suture line model based on mass spring and knotting method of hybrid suture line model

Abstract

The method provides a hybrid suture line model based on a mass spring and a knotting method of the hybrid suture line model. According to the model, a torsion spring is added and a method of segmentalcalculation of the tension of a suture line is adopted based on a mass spring model, primitive collision detection is combined with a collision cluster method, and a limit on the maximum moving distance of vertexes of the suture line in a unit time step is added. By adopting the hybrid suture line model and the knotting method thereof provided by the invention, the internal tension of the sutureline can be realistically simulated, the collision phenomenon of false detection and missed detection can be effectively avoided, and the calculation accuracy of collision feedback force can be improved. Experiments show that compared with a traditional FTL suture line modeling method, the model and the knotting method provided by the invention are more realistic in visual rendering and more stable in dealing with complex knot simulations such as 'bowline'.

Description

technical field [0001] The invention relates to the construction of a suture model in a virtual surgery simulation system, which is used to realize the simulation of wound suturing and knotting process in the virtual surgery. Background technique [0002] The suture is a deformable object (Deformable Linear Objects, DLO) with very small mass, strong resistance to stretching deformation, but almost unable to resist bending deformation. It is usually simulated using spline curves. Some simulations In order to simplify the calculation, the system directly renders the seam as a one-dimensional line segment. A good suture model is the basis of a virtual surgery simulation system. The simulation of the suture requires not only a suitable physical model, but also a real 3D rendering effect; at the same time, accurate calculation of the tension inside the suture is also the basis for its interaction with soft tissue. In addition, the knotting simulation of sutures requires sophist...

AI Technical Summary

Problems solved by technology

However, this model will have some energy leakage when dealing with constraints, resulting in inaccurate calculation of the minimum energy

[0006] In summary, although the traditional method based on FTL (follow the leader) is simple and easy to implement and can meet the real-time requirements in suture simulation, it cannot simulate the tension change inside the suture, and the internal tension of the suture is calculated The basis of the friction force between soft tissue and artificially adding some fixed tension cannot meet the authenticity requirements of the suture simulation process

The Cosserat elastic rod model has the problem that the high computational complexity reduces the real-time performance of suture simulation

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