Simulation Rendering Of Surgical Scene And Platform Construction In Virtual Surgery System

Even since the late 20th century, the technique of micro invasive surgery (MIS), represented by endoscopy, has been developing very fast. Compared with the traditional surgery, MIS has many advantages such as limited injury, fast recovery, little complication, short anesthesia time. As a result, MIS has been applied extensively. However, doctors can only see operation area through endoscope, which has greatly limited doctors'sight range. So this characteristic of MIS has brought significant difficulty to surgeons, who largely depend on experience to perform such surgery. This fact has rendered the importance of pre-surgery training. The purpose of the virtual surgery system presented by this thesis is to assist in providing MIS training environment for doctors by the aim of computer virtual reality technology, so that it will take less time and cost on training before doctors can actually perform the surgery.The main purpose of this thesis is to research how to render a realistic surgical scene for MIS and build a decoupled structure for virtual surgery system platform. First half of this thesis has focused on numerical method of Navier-Stokes equations using fluid dynamics theory in order to simulate internal bleeding which will obscure the view of endoscope. Doctors have to be trained how to deal with this emergency during surgery. So bleeding simulation is important this training system. The rest of the thesis tells the methods of simulating the floaters in tissue fluid, texture mapping of surgical scene background and modeling of surgical instrument. All these simulations make the system more realistic. The last part explains the structure and modules of the whole decoupled system, gives some experimental result of our modules and describes how to integrate bleeding rendering module into the existing system.The main achievement and innovation is listed as below:1. Mainly focus on bleeding simulation which is important to realistic effect of the training system. Make comparison between different numerical methods, and choose the one best fits our existing system.2. Modify and innovate bleeding simulation algorithm according to special requirement of our system, and implement the bleeding module. Tune on parameters controlling effect so as to make our rendering more realistic.3. Implement simulation of other elements in surgical scene. Simulate floaters in tissue fluid using particle system. Use different blend parameter to set background texture mapping. Create matrix pipeline to set position and orientation of surgical instrument model.4. Restructure the whole virtual surgery system. Design the system with modules in order to decouple the old system. Extensibility and maintainability has been greatly improved by this design.5. Integrate bleeding rendering module into our existing virtual surgery system. Innovate a method to implement the function of OpenGL primitive under VTK environment using poly data source.