摘要
Virtual reality-based surgery simulation is becoming popular with the development of minimally invasive abdominal surgery,where deformable soft tissue is modelled and simulated.The mass-spring model(MSM)and finite element method(FEM)are common methods used in the simulation of soft tissue deformation.However,MSM has an issue concerning accuracy,while FEM has a problem with efficiency.To achieve higher accuracy and efficiency at the same time,we applied a co-rotational FEM in the simulation of a kidney with a tumour inside,achieving a real-time and accurate deformation simulation.In addition,we set a multi-model representation for mechanical simulation and visual rendering.The implicit Euler method and conjugate gradient method were adopted for setting and solving the linear system.For a realistic simulation of surgery,constraints outside the kidney and between the kidney and tumour were set with two series of mechanical properties for the two models.Experiments were conducted to validate the accuracy and real-time performance.
作者
JING Mengjie
CUI Zhixin
FU Hang
CHEN Xiaojun
荆梦杰;崔志鑫;傅航;陈晓军(Institute of Biomedical Manufacturing and Life Quality Engineering,State Key Laboratory of Mechanical System and Vibration,School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai,200240,China;Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai,200240,China)
基金
the National Key Research and Development Program of China(No.2017YFB1302900)
the National Natural Science Foundation of China(Nos.81971709,M-0019,and 82011530141)
the Foundation of Science and Technology Commission of Shanghai Municipality(Nos.19510712200,and 20490740700)
the Shanghai Jiao Tong University Foundation on Medical and Technological Joint Science Research(Nos.ZH2018ZDA15,YG2019ZDA06,and ZH2018QNA23)
the 2020 Key Research Project of Xiamen Municipal Government(No.3502Z20201030)。
