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

提出了一种基于人类双目视差的三维虚拟物体在真实空间和虚拟空间中的立体操纵硬件系统。以假定材料的物理属性为特征的3D图像对象通过在真实空间和虚拟空间中给出的立体虚拟边缘工具来切割，该立体虚拟边缘工具以与新开发的剪刀型硬件边缘工具的主运动相同的方式操作。通过操作硬件刃口工具，可以在操作过程中不受任何特定约束地切割出立体虚拟对象。在此基础上，开发了一个图像切削力显示系统，使操作者能够很好地观看虚拟物体的真实操作，并根据其给定的物理属性给出一种流畅的反应感觉。阐述了三维虚拟材质和三维虚拟刃具的立体实现以及构成力显示系统的硬件刃具设计的关键技术。所提出的力显示系统是一个有用的人机界面，并应用于外科教学模拟器，具有手指的直接反应感觉和对其操作的视觉识别，包括对虚拟对象的空间和结构的理解。

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.