Research And Implementation Of Virtual Arthroscopic Surgery System Based On Force Feedback

Virtual surgery is an application of Virtual Reality (VR) in medicine. VR-based surgical simulator system offers a very elegant approach not only to enriching and enhancing traditional training of endoscopic surgery, but also to assisting the real surgery. Since virtual surgery has provided great helps in spreading of endoscopic surgery, it shows good prospect in application.Researching and developing of virtual surgery system is a very challenging subject, which refers to many fields such as Computer Graphics, Digital Image Processing, Computer Vision, Dynamics, Biomechanics, Medicine, etc.Visual and haptic feedbacks are two important ways of interaction between visual surgery system and its user. Realistic and real-time visual and haptic feedbacks may enhance the immersion of a visual surgery system. This thesis discussed several modules of our project of visual arthroscopic surgery system based on force feedback, which was supported by National Natural Science Foundation of China (NSFC).In the module of 3D reconstruction and geometric processing of 3D model, we concisely explained 3D reconstruction from 2D contour. By analyzing the feature of mesh of geometric models generated by the method above-mentioned, we proposed a new method based on adaptive mesh for mesh smoothing by improving the classic Laplacian smoothing method. The continuity of adjacent contours had been taken into account in our method. The geometry features of model can be preserved with our method.As to force feedback, PHANToM force feedback device and its two surface-based force feedback model were introduced. We then proposed a force feedback model combined with spring-mass deformation model to simulate the sense of force in examining traumatic ligament.In special effect simulation, we put our emphasis on bleeding simulation. We presented two models for simulation of two different kinds of bleeding phenomena. Both of the two models showed good performance in real-time simulation. We shortly introduced on the principal and implementation of particle system, with which we accomplished the simulation of some other special effects. Then, we proposed a method, which combined physic model with texture mapping tech., to simulate a kind of special tissue in surgery.Finally, we discussed the problem of software architecture designing. A design based on Model-View-Controller pattern for our arthroscopic surgery system was used. We obtained clear architecture, flexibility and extensibility of our software by extending the concept of View component. After that, a briefly illustration of the system implemented in our project was presented.