Development of training simulator for anatomy with attendance to the reality using stereoscopic image of internal organs

提出了一种利用人的双眼视差在真实的空间中立体显示3D虚拟物体的立体切割原理。针对具有虚拟物理特性的立体图像对象的切割，研制了一种软件刀和刀式、剪式、锯式三种硬磨边工具，可直接切割对象，而不受操作限制。开发了一些必要的技术来实现切割设备操作上的力显示系统，该系统是一个有用的人机界面，具有手指的直接感觉和操作中手部运动的视觉识别，包括物体的空间和结构理解。最后，三种图像切割力显示系统的开发，可以提供一个操作员很好的照顾到虚拟对象的真实操作与平滑的反应的感觉取决于不同的切割机制和它们给定的物理属性。

A principle for a stereoscopic cutting of stereoscopic display of 3D virtual objects in a real space using a human binocular parallax is developed. For the cutting of stereoscopic image objects characterized by assumed physical properties, a software knife and three kinds of hardwere edged-tools such as knife-type, scissors type and saw-type edged-tools are developed by which the objects can be directly cut into without any particular constraint in their operation. Some essential techniques are developed for the realization of a force display system on manipulation of the cutting devices which is a useful human interface with direct feeling on fingers and visual recognition of hand movement in operation including spatial and structural understandings of objects. Finally, three kinds of image-cutting force display systems are developed which can provide an operator well attendance to the realistic operation of virtual objects with a smooth reactive feeling dependent on different cutting mechanisms and their given physical properties.