Educational simulator for surgery with attendance to the reality on the operation of stereoscopic image of internal organs

注重内脏立体图像操作真实性的外科教育模拟器

• 批准号: 08680197
• 负责人: WAKAMATSU Hidetoshi
• 金额: $ 1.6万
• 依托单位: Tokyo Medical and Dental University, Fadulty of Medicine
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08680197/
• 关键词: Virtual reality; Virtual cutting device; Virtual object; Teleoperation; Simulator for surgery and anatomy; Stereoscopic image; 手術解剖シュミレータ; 切離デバイス; 手術・解剖シミュレータ

A stereoscopic manipulating hardware system of 3D virtual objects in a real and a virtual space is proposed on the basis of a human binocular parallax. 3D image objects characterized by assumed physical properties of materials are cut by a stereoscopic virtual edged-tool given in a real and a virtual space that is operated in the same way of a master movement of a newly developed scissors-type hardware edged-tool. By manipulation of the hardware edged-tool, stereoscopic virtual objects can be cut into without any particular constraint in its operation. Then, an image-cutting force display system is developed which can provide an operator well attendance to the realistic operation of virtual objects with a smooth reactive feeling dependent on their given physical properties. Some essential techniques are described for the stereoscopic realization of 3D virtual materials and 3D virtual edged-tool, and also for the design of the hardware edged-tool in order to compose a force display system. The proposed force display system is confirmed a useful human interface and applied to the educational simulator of surgery with direct reactive feeling on fingers and visual recognition of its operation including spatial and structural understandings of virtual objects.

基于人的双眼视差，提出了一种真实空间和虚拟空间三维虚拟物体的立体操纵硬件系统。以假定材料的物理性质为特征的三维图像对象，在真实空间和虚拟空间中被给定的立体虚拟刃具切割，其操作方式与新开发的剪刀型硬件刃具的主动作相同。通过对硬件刃具的操作，可以在不受任何特殊约束的情况下切割出立体的虚拟物体。然后，开发了一种图像切割力显示系统，该系统可以使操作员很好地参与虚拟物体的真实操作，并具有依赖于其给定物理特性的平滑反应感。介绍了三维虚拟材料和三维虚拟刃具的立体实现，以及硬件刃具的设计，以组成一个力显示系统的关键技术。所提出的力显示系统被证实是一个有用的人机界面，并应用于外科教育模拟器中，具有手指直接反应的感觉和操作的视觉识别，包括对虚拟物体的空间和结构的理解。

项目成果

Wakamatsu, H.and M.Yasuna: "Stereoscopic image cutting system with reactive feeling on cutting virtual sheet object by scissors-type device." Trans.IEE Japan. 116-C,10. 1163-1168 (1996)

Wakamatsu, H. 和 M.Yasuna：“立体图像切割系统，通过剪刀型设备切割虚拟片状物体时具有反应感。”

K.Takahara H.Wakamatsu: "Human friendly control system of alveolar CO2-concentration based on adaptive control theory" Proc.Int.Workshop Robot Human Commun.6. 432-437 (1997)

K.Takahara H.Wakamatsu：“基于自适应控制理论的人性化肺泡二氧化碳浓度控制系统”Proc.Int.Workshop Robot Human Commun.6。

K.Takahara and H.Wakamatsu: "System identification with variable sampling intervals." Trans IEICE. J79-D-II-6. 1172-1175 (1996)

K.Takahara 和 H.Wakamatsu：“具有可变采样间隔的系统识别。”

H.Wakamatsu: "Operational systems of stereoscopic cutting 3D virtual objects with reactive feeling." Proc.IFAC 13th World Congr.,Biomed.Control. 13. 409-414 (1996)

H.Wakamatsu：“具有反应感的立体切割 3D 虚拟物体的操作系统。”

若松秀俊, 安名正和: "鋏状デバイスによる紙状立体仮想物体の切断感覚の実現システム" 電気学会論文誌C. 116-C-10. 1163-1168 (1996)

Hidetoshi Wakamatsu、Masakazu Yasuna：“一种使用类似剪刀的设备实现切割纸状三维虚拟物体的感觉的系统”IEEJ Transactions C. 116-C-10 (1996)。