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

提出了一种基于人眼视差的真实的和虚拟空间中三维虚拟物体的立体操纵硬件系统。通过在真实的和虚拟空间中给定的立体虚拟刃工具切割以材料的假定物理性质为特征的3D图像对象，该立体虚拟刃工具以与新开发的剪刀型硬件刃工具的主运动相同的方式操作。通过硬件边缘工具的操作，立体虚拟对象可以被切割成在其操作中没有任何特定的约束。然后，图像切割力显示系统的开发，它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他们给定的物理属性。阐述了三维虚拟材料和三维虚拟刀具的立体实现以及构成力显示系统的硬件刀具设计的关键技术。建议的力显示系统被证实是一个有用的人机界面，并适用于教育模拟器的手术手指上的直接反应的感觉和视觉识别的操作，包括空间和结构的理解虚拟对象。

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.