Real-time suturing simulation for virtual reality medical training
Real-time suturing simulation for virtual reality medical training
复制标题
用于虚拟现实医疗培训的实时缝合模拟
DOI：
10.1002/cav.1940
复制
发表时间：
2020
影响因子：
1.1
通讯作者：
Haipeng Wang
中科院分区：
文献类型：
--
作者：
Peng Yu;Junjun Pan;Hong Qin;Aimin Hao;Haipeng Wang
目前，基于虚拟现实（VR）的医疗模拟器提供了一种高效且具有成本效益的替代方案，而不会暴露传统培训方法的风险。虚拟手术仿真作为外科基础技能训练中不可缺少的一项重要内容，在虚拟手术领域的研究还很不够。在本文中，我们提出了一个真实的‐时间的仿真框架，可以处理手术器械和软组织之间的复杂相互作用。模拟过程分为两个阶段：外部交互和内部耦合。外部相互作用涉及缝针/缝线与软组织之间的相互作用，两者均通过具有不同约束的基于位置的动力学（PBD）变形。在内部耦合阶段，当力超过阈值时，针尖将刺穿并穿透到软组织中并产生路径，为了保证针/线准确地沿着软组织内的路径运动，我们提出了一种新的耦合方法，通过匹配和生成针、线、我们已经将这种模拟应用到具有触觉力的VR腹腔镜手术模拟器中。我们的实验结果表明，我们的方法可以实现真实的时间性能与高度的视觉现实主义和触觉保真度。
At present, virtual reality (VR) ‐based medical simulators provide an efficient and cost‐effective alternative without exposing risk to the traditional training approaches. As an essential and indispensable task in fundamental surgical skills training, the research of suturing simulation still remains insufficient in the field of virtual surgery. In this paper, we present a real‐time suturing simulation framework which can handle the complex interactions between surgical instruments and soft tissue. The simulation consists of two stages: external interaction and internal coupling. External interaction involves the interplay between needle/suture and the soft tissue, which are both deformed by position‐based dynamics (PBD) with different constraints. At the internal coupling stage, once the force exceeds a threshold, the needle tip will puncture and penetrate into the soft tissue and generate a path. To guarantee the needle/suture accurately following the path inside the soft tissue, we propose a novel coupling method by matching and generating the constraints among needle, suture, and penetration path. We have applied this suturing simulation into a VR laparoscopic surgery simulator with haptic force. Our experimental results demonstrate that our approach can achieve real‐time performance with a high degree of visual realism and haptic fidelity.