华南理工大学学报（自然科学版）2025，Vol.53Issue(9)：76-85,10.DOI:10.12141/j.issn.1000-565X.250025
骨科虚拟手术的视觉与力觉融合交互算法
Visual and Haptic Interaction Algorithm for Orthopedic Virtual Surgery
摘要
Abstract
Real-time visual and precise haptic interaction algorithms are critical for achieving accurate"tactile sensation"in virtual surgical training.In order to reduce storage space,improve computational efficiency,accurately calculate cutting forces during bone milling,and balance the visual and haptic interaction effect,this paper proposed a visual and haptic interaction algorithm based on the Tri-dexel model.Firstly,the Tri-dexel model was employed to represent the bone and the surgical milling tool.Real-time geometric deformation during the virtual bone milling was achieved through boolean operations and rapid surface reconstruction algorithms.Secondly,by integrating the geometric parameters of the surgical milling tool,a haptic interaction model based on the micro-element cutting force was proposed.This model utilizes the boolean operation results between the bone and surgical milling tool to quickly and accurately solve the instantaneous undeformed chip thickness.Thirdly,the cutting force coefficients were identified and the haptic interaction model was validated through milling experiments to achieve haptic rendering.Finally,an orthopedic virtual surgical training system was built based on the above-mentioned algorithms,and the interaction algorithm was tested and evaluated experimentally.The results show that the predicted forces align with experimental measurements,with an average force error of less than 7%.The visual and haptic interactive algorithm satisfies a visual refresh rate of 30 Hz and a haptic refresh rate of 1 kHz.The developed orthopedic virtual surgical training system provides users with a highly immersive virtual bone milling training experience that can effectively improve users'hand-eye coordination.关键词
虚拟手术/力反馈/力觉交互/Tri-dexel模型/切削力Key words
virtual surgery/force feedback/haptic interaction/Tri-dexel model/cutting force分类
信息技术与安全科学引用本文复制引用
王清辉,方道鑫,池梓鹏,倪建龙,谢海龙,李静蓉,李春海..骨科虚拟手术的视觉与力觉融合交互算法[J].华南理工大学学报（自然科学版）,2025,53(9):76-85,10.基金项目
国家重点研发计划项目(2022YFB4500600) （2022YFB4500600）
广东省自然科学基金项目(2022A1515010100,2024A1515010140)Supported by the National Key R&D Program of China(2022YFB4500600)and the Natural Science Founda-tion of Guangdong Province(2022A1515010100,2024A1515010140) （2022A1515010100,2024A1515010140）
