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针对使用机器人进行腹腔微创胆囊手术仿真时胆囊的变形问题,研究了按压胆囊时胆囊的变形过程.建立了胆囊及其附属管路的几何模型,针对该几何模型建立了基于弹簧-质点模型的力学模型.提出了使用手术器械按压胆囊时的手术仿真算法,对该仿真算法进行了验证.图形反馈表明该算法可以实现胆囊及其附属管路的按压操作仿真,其图形反馈较为真实,实时性也较好.仿真结果表明:该算法可用于医学仿真,可实际应用于胆囊及其附属管路的操作仿真.
Aiming at the problem of gallbladder deformation during percutaneous minimally invasive gallbladder surgery using robots, the process of gallbladder deforming during gallbladder compression was studied, and the geometric model of gallbladder and its associated tubing was established. Based on the model of the spring - particle model Mechanics model.A surgical simulation algorithm was put forward when using the surgical instrument to compress the gallbladder and the simulation algorithm was validated.Graphical feedback showed that the algorithm can realize the compression operation of the gallbladder and its affiliated pipeline.The real- But also better.The simulation results show that the algorithm can be used in medical simulation and can be applied to the operation simulation of gallbladder and its subsidiary pipeline.