Construction of haptic display system in virtual space by using measured parameters from MR Elastography

我们的研究目的是利用磁共振弹性成像（MRE）的测量参数来构建虚拟空间的触觉显示系统。该系统可以为医学领域的虚拟现实（VR）做出贡献。研究期间的结果如下：1。关于从MRE图像中估计粘弹性参数的过程，我们(1)建立了准确估计参数的过程，(2)评估了减少反射波对MRE图像影响的过程。我们还(3)利用程序(1).2观察到骨骼肌等组织中存在各向异性弹性。为了测量力反馈在真实空间中的分布，我们构建了(1)利用力传感器和触觉装置测量真实物体力反馈的系统，(2)利用距离传感器测量物体形状的系统，(3)利用机械臂自动测量力反馈的系统。我们还提出了(4)一种从测量数据插值估计力反馈分布的方法，以及(5)一种从分布(4)实时显示触觉信息的方法。我们从心理物理评价中证实，通过引入适当的弹性参数，可以在虚拟空间中表示真实物体的力反馈特性。我们发现主动触摸中位置和力的转换之间的关系可能包含感知物体形状的重要信息。

The purpose of our research is to construct a haptic display system in virtual space, by using measured parameters from Magnetic Resonance Elastography (MRE). This system can contribute to the Virtual Reality (VR) nMedicine. The results in the research period are as follows:1. About the procedure to estimate viscoelastic parameters from MRE images, we have (1) established a procedure to estimate the parameters accurately, and (2) evaluated the procedure to reduce the influence of reflection waves in MRE images. We have also (3) observed the existence of anisotropic elasticity in tissues such as skeletal muscle, utilizing procedure (1).2. In order to measure the distributions of force feedback in real space, we have constructed (1) a system to measure the force feedback from real objects utilizing force sensor and haptic device, (2) a system to measure the shapes of objects by range sensor, and (3) a system for automated measurement of force feedback utilizing robot arm. We have also proposed (4) a procedure to estimate the distribution of force feedback from the interpolation of the measured data, and (5) a procedure to display the haptic information from the distribution (4) in real time.3. We have confirmed from psychophysical evaluation that the characteristics of force feedback of real object can be represented in virtual space by introducing proper elastic parameters.4. We have found that the relationship among the transitions of position and force in active touch may include the significant information to perceive shapes of objects.