基于半边结构的膜组织触觉仿真

针对一类可以用面模型表示的软组织,提出一种基于半边数据结构和AABBs(Aligned Ax-is Bounding Boxes)树结构混合的碰撞检测响应方法,以适应触觉反馈计算的高帧率要求。触觉反馈即包含粘弹性反馈力,又包括用修改的滞滑摩擦模型表示的膜软组织的粘滞性摩擦效果。软组织变形基于简单的质点弹簧模型建模。实验表明,提出的方法比单一的使用AABBs树结构方法效率较高,使用PHANTON力反馈设备可以清楚感受到粘滞性摩擦效果。这些方法将是建立白内障虚拟手术仿真器的基础。

Haptic Simulation of Soft Tissue Based on Half-edge Data Structure

Based on half-edge data structure and hierarchies of axia-aligned bounding boxes(AABBs),this paper presents,to the soft tissue deformation simulation represented by surface model,a hybrid collision detect and response method,named as hierarchy half-edge watching method,to meet the requirements of the higher frame rates in haptic feedback threading.The haptic feedback includes both the visco-elastic force and sticking-sliding friction force of using the modified stick-slide friction model.The visual threading and haptic threading communicates with each other in terms of a synchronizer.Experiment shows that the presented method is faster and stabler than that of AABBs method itself and the sticking-sliding friction by PHANTON haptic device can be sensed clearly when it touches and slides on the soft membrane tissue.This method is to establish the base of the cataract virtual surgery simulator.