虚拟显微白内障手术系统人机交互接口设计
|
摘要
基于虚拟现实技术的显微白内障手术仿真训练系统对显微环境下眼科手术操作培训具有重要的意义。为此,设计并搭建了一套具有高度沉浸感的虚拟显微白内障手术训练系统的软硬件环境。硬件部分系统以HTC Vive,Geomagic Touch X为硬件基础,设计手术器械转换接口以搭建高保真手术操作环境;软件部分采用基于位置动力学方法(position-baseddynamics)模拟手术过程中眼角膜软组织的变形、穿刺及缝合操作,并采用GPU并行计算对手术仿真过程进行加速。最后,实验结果表明该系统可以实现自然的显微眼科手术人机交互环境,使年轻医师获得高沉浸感的真实手术训练体验,从而达到一定的培训效果。
Virtual reality based micro cataract surgical simulator is of great significance for the training of ophthalmic surgery in the microscope vision environment. We have presented a hardware/software environment for a highly immersive virtual micro surgical training system. The hardware part of the system is based on HTC Vive and Geomagic Touch X, and the surgical instrument conversion interfaces are used to build a high-fidelity surgical operating environment. In addition, position-based dynamics in the software part is used to simulate the deformation, puncturing and suturing of corneal soft tissue during surgery, while GPU parallel computing is employed to accelerate the computing for interactive environment. Finally, tests show that this system achieves a more natural human-computer interface for micro cataract surgery, which enables young physicians to obtain a highly immersive real surgical training experience to achieve an effective training effect.
Virtual reality based micro cataract surgical simulator is of great significance for the training of ophthalmic surgery in the microscope vision environment. We have presented a hardware/software environment for a highly immersive virtual micro surgical training system. The hardware part of the system is based on HTC Vive and Geomagic Touch X, and the surgical instrument conversion interfaces are used to build a high-fidelity surgical operating environment. In addition, position-based dynamics in the software part is used to simulate the deformation, puncturing and suturing of corneal soft tissue during surgery, while GPU parallel computing is employed to accelerate the computing for interactive environment. Finally, tests show that this system achieves a more natural human-computer interface for micro cataract surgery, which enables young physicians to obtain a highly immersive real surgical training experience to achieve an effective training effect.
引文
[1]朱洁,姜廷帅.白内障手术治疗的发展与思考[J].医学与哲学:临床决策论坛版,2010,31(9):74-75.
[2]艾则孜·吾买尔,丁汝新,玛依拉·依山.白内障手术方式的研究进展[J].实用临床医药杂志,2016,20(11):218-220,224.
[3]杨玉辉,张皓.基于自然交互的白内障实训平台的开发与应用[J].中国医学教育技术,2015,29(4):398-401.
[4]曾思明,李敏,李莉.眼科显微手术技能培训模式探讨[J].国际眼科杂志,2012,12(7):1370-1371.
[5]高云红.计算机仿真技术及其应用[J].软件,2013,34(11):111,128.
[6]刘大川,董莹,戴惟葭,等.医学模拟教学和动物实验在眼科显微手术培训中的应用[J].中国医学教育技术,2011,25(4):440-443.
[7]BISOL T,DE REZENDE BISOL P A,REZENDE F.Efficacy of eyesi surgical simulator training in improving high-tension capsules capsulorhexis performance[J].2 Revista Brasileira de Oftalmologia.2016,75(5):376-379.
[8]LAM C K,SUNDARAJ K,SULAIMAN M N.Virtual simulation of eyeball and extraocular muscle reaction during cataract surgery[J].Procedia Engineering,2012,41:150-155.
[9]COURTECUISSE H,ALLARD J,DURIEZ C,et al.Preconditioner-based contact response and application to cataract surgery[C]//Proceedings of the 14th International Conference on Medical Image Computing and Computer-Assisted Intervention 2011.Heidelberg:Springer,2011:315-322.
[10]史双瑶,沈建新,梁春.一种用于软组织变形仿真的支撑球弹簧模型[J].计算机应用与软件,2013,30(1):103-106.
[11]MACKLIN M,MüLLER M,CHENTANEZ N,et al.Unified particle physics for real-time applications[J].ACM Transactions on Graphics,2014,33(4):1-12.
[12]CACCAMO S,GüLER P,KJELLSTRM H,et al.Active perception and modeling of deformable surfaces using Gaussian processes and position-based dynamics[C]//2016 IEEE-RAS 16th International Conference on Humanoid Robots(Humanoids).New York:IEEE Press,2016:15-17.
[13]MACKLIN M,MüLLER M.Position based fluids[J].ACM Transactions on Graphics,2013,32(4):1.
[14]GU Y F,YANG K J,LU C.Constraint solving order in position based dynamics[EB/OL].[2018-08-19].https://www.researchgate.net/publication/317108457_Constraint_Solving_Order_in_Position_Based_Dynamics.
[15]王翀,安伟强,王红娟.基于圆柱体-轴向包围盒检测的巷道相交建模[J].计算机应用,2015,35(12):3592-3596.
[16]谢倩茹,耿国华.虚拟手术环境中软组织的快速碰撞检测[J].计算机应用研究,2015,32(8):2484-2486,2499.
[17]JIANG G W,LUO M Z,CHEN S X,et al.Research on3 dimensional reconstruction of CT images based on improved filtering algorithm[C]//2018 IEEE 9th International Conference on Mechanical and Intelligent Manufacturing Technologies(ICMIMT).New York:IEEE Press,2018:10-13.
[18]SI W X,LU J,LIAO X Y,et al.Towards interactive progressive cutting of deformable bodies via phyxel-associated surface mesh approach for virtual surgery[J].IEEE Access,2018,6:32286-32299.
[19]JIA S Y,PAN Z K,WANG G D,et al.Stable real-time surgical cutting simulation of deformable objects embedded with arbitrary triangular meshes[J].Journal of Computer Science and Technology,2017,32(6):1198-1213.
[20]罗丽华,王艳玲,唐思梦.EYESi手术模拟器培训不同手术经验眼科医师的对比研究[J].临床和实验医学杂志,2014,13(4):254-256.
[2]艾则孜·吾买尔,丁汝新,玛依拉·依山.白内障手术方式的研究进展[J].实用临床医药杂志,2016,20(11):218-220,224.
[3]杨玉辉,张皓.基于自然交互的白内障实训平台的开发与应用[J].中国医学教育技术,2015,29(4):398-401.
[4]曾思明,李敏,李莉.眼科显微手术技能培训模式探讨[J].国际眼科杂志,2012,12(7):1370-1371.
[5]高云红.计算机仿真技术及其应用[J].软件,2013,34(11):111,128.
[6]刘大川,董莹,戴惟葭,等.医学模拟教学和动物实验在眼科显微手术培训中的应用[J].中国医学教育技术,2011,25(4):440-443.
[7]BISOL T,DE REZENDE BISOL P A,REZENDE F.Efficacy of eyesi surgical simulator training in improving high-tension capsules capsulorhexis performance[J].2 Revista Brasileira de Oftalmologia.2016,75(5):376-379.
[8]LAM C K,SUNDARAJ K,SULAIMAN M N.Virtual simulation of eyeball and extraocular muscle reaction during cataract surgery[J].Procedia Engineering,2012,41:150-155.
[9]COURTECUISSE H,ALLARD J,DURIEZ C,et al.Preconditioner-based contact response and application to cataract surgery[C]//Proceedings of the 14th International Conference on Medical Image Computing and Computer-Assisted Intervention 2011.Heidelberg:Springer,2011:315-322.
[10]史双瑶,沈建新,梁春.一种用于软组织变形仿真的支撑球弹簧模型[J].计算机应用与软件,2013,30(1):103-106.
[11]MACKLIN M,MüLLER M,CHENTANEZ N,et al.Unified particle physics for real-time applications[J].ACM Transactions on Graphics,2014,33(4):1-12.
[12]CACCAMO S,GüLER P,KJELLSTRM H,et al.Active perception and modeling of deformable surfaces using Gaussian processes and position-based dynamics[C]//2016 IEEE-RAS 16th International Conference on Humanoid Robots(Humanoids).New York:IEEE Press,2016:15-17.
[13]MACKLIN M,MüLLER M.Position based fluids[J].ACM Transactions on Graphics,2013,32(4):1.
[14]GU Y F,YANG K J,LU C.Constraint solving order in position based dynamics[EB/OL].[2018-08-19].https://www.researchgate.net/publication/317108457_Constraint_Solving_Order_in_Position_Based_Dynamics.
[15]王翀,安伟强,王红娟.基于圆柱体-轴向包围盒检测的巷道相交建模[J].计算机应用,2015,35(12):3592-3596.
[16]谢倩茹,耿国华.虚拟手术环境中软组织的快速碰撞检测[J].计算机应用研究,2015,32(8):2484-2486,2499.
[17]JIANG G W,LUO M Z,CHEN S X,et al.Research on3 dimensional reconstruction of CT images based on improved filtering algorithm[C]//2018 IEEE 9th International Conference on Mechanical and Intelligent Manufacturing Technologies(ICMIMT).New York:IEEE Press,2018:10-13.
[18]SI W X,LU J,LIAO X Y,et al.Towards interactive progressive cutting of deformable bodies via phyxel-associated surface mesh approach for virtual surgery[J].IEEE Access,2018,6:32286-32299.
[19]JIA S Y,PAN Z K,WANG G D,et al.Stable real-time surgical cutting simulation of deformable objects embedded with arbitrary triangular meshes[J].Journal of Computer Science and Technology,2017,32(6):1198-1213.
[20]罗丽华,王艳玲,唐思梦.EYESi手术模拟器培训不同手术经验眼科医师的对比研究[J].临床和实验医学杂志,2014,13(4):254-256.