Needle Insertion Modelling for the Interactive Simulation of Percutaneous Procedures
Needle Insertion Modelling for the Interactive Simulation of Percutaneous Procedures
复制标题
用于经皮手术交互式模拟的针插入模型
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
S. Salcudean
中科院分区：
文献类型：
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作者：
S. DiMaio;S. Salcudean
提出了一种新的交互式虚拟进针仿真方法。插入模型模拟三自由度针运动、基于物理的针力、线性弹性静力组织变形和针灵活性，用于经皮治疗和手术的规划和培训。为了验证该方法，已经开发出一种用于测量针插入过程中的平面组织变形的实验系统，并提出了该系统。实时模拟算法允许用户在虚拟针穿透组织模型时操纵虚拟针，同时通过平面触觉界面体验转向扭矩和侧向针力。高效的数值计算技术允许以触觉控制速率快速模拟相对复杂的二维和三维环境。
A novel interactive virtual needle insertion simulation is presented. The insertion model simulates three-degree-of-freedom needle motion, physically-based needle forces, linear elastostatic tissue deformation and needle flexibility for the planning and training of percutaneous therapies and procedures. To validate the approach, an experimental system for measuring planar tissue deformation during needle insertions has been developed and is presented. A real-time simulation algorithm allows users to manipulate the virtual needle as it penetrates a tissue model, while experiencing steering torques and lateral needle forces through a planar haptic interface. Efficient numerical computation techniques permit fast simulation of relatively complex two-dimensional and three-dimensional environments at haptic control rates.