| Minimally invasive surgery robot simulation system is an important part of minimally invasive surgical robot system. In this paper, to the needs of minimally invasive surgical robot simulation system, the author have done a lot of work in the field of simulation and surgical training, and Established a platform for minimally invasive surgery simulation system, achieved the core functionality of a minimally invasive surgery simulation training system. In this paper, made a systematic overview of domestic and foreign medical simulation research and development, completed the following major aspects:First, discussed the geometric modeling methods in the virtual simulation system, and establish the DOF model of surgical tools.Second, discussed the control method of surgical tools with OSG, expounded how to read or control the DOF node.Third, established the master-to-slaver mathematical model of the robot, as the mathematics foundation of the simulation system's input control.Fourth, showed the conversion method between screen coordinate and world coordinate. Realized the control of the DOF node with the mouse.Fifth, describes the current collision detection algorithm. Achieved the collision detection with Nvidia PhysX, and given the process of achieving.The author of this dissertation established a platform for simulation system to reproduce 3D scenes of surgery, achieved the user & the 3D scene's interaction. Basically completed the minimally invasive surgical robot simulation system's core components. |
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