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一种具有触觉再现功能的人体心脏组织虚拟内镜系统

Investigation on the virtual endoscopic for human heart tissue withhaptic rendering

作者: 刘明雨  项士海 
单位:沈阳工业大学电气工程学院生物医学工程系(沈阳110870)
关键词: 触觉再现装置;位置编码器;虚拟内镜技术;直流电机;CHAI3D 
分类号:R318.04
出版年·卷·期(页码):2020·39·1(34-41)
摘要:

目的 传统的虚拟内镜检查过程中,操作者不能感知器官或病变组织与虚拟内镜探头的相互作用力,存在误判的可能。为在一定程度上解决该问题,本文研究并实现了一种具有触觉再现功能的虚拟内镜系统。方法 首先,构建了由传动绞轮、触觉手柄与基座组成的人机物理接口,采用Arduino作为主控制器接收虚拟环境中虚拟探头与组织的作用力,控制直流电机输出不同的扭矩,驱动人机物理接口实现力的传输和再现;然后,设计以磁阻传感器KMA210为核心的位置编码器,检测装置中触觉手柄的位移信息,控制虚拟环境中内镜探头的移动;最后,设计了通信接口,采用CHAI3D开发了人体心脏组织的虚拟内镜仿真环境,并对虚拟环境和触觉再现装置进行了集成,做了测试和验证。结果 该触觉再现装置能够在单自由度方向上控制虚拟环境中的探头,再现虚拟环境下内镜与心脏内部组织或血管的(0~3 N)相互作用力。结论 通过对虚拟内镜环境下触觉再现技术的研究,初步实现了具有触觉感知力学反馈功能的人体心脏组织虚拟内镜系统。

Objective In the traditional virtual endoscopic examination process, the operator cannot perceive the interaction force between the the diseased tissue and the virtual endoscopic probe, and there is a possibility of misjudgment. In order to solve this problem to a certain extent, this paper studies and implements a virtual endoscopic system with haptic rendering function. Methods Firstly, the human-machine physical interface was constructed with the transmission winch, the haptic handle and the base. Arduino was taken as the main controller to receive the force from the virtual probe and the tissue in the virtual environment. The DC motor was also controlled by the Arduino to drive the human-machine physical interface and realize the transmission and rendition of force. Secondly, we designed the position encoder with the magnet sensor KMA210, which detect the displacement information of the tactile handle in the device, and control the movement of the endoscopic probe in the virtual environment. Finally, we designed the communication interface and adopted CHAI3D to develop a virtual endoscopic simulation environment for human heart tissue. The virtual environment and the haptic rendering device were integrated and the test results were given. Results The haptic rendering device could control the endoscope in the virtual environment in single degree of freedom and reproduce the (0-1.6 N) interaction between the endoscope and the internal tissue or blood vessel of the heart in the virtual environment. Conclusions Through the research on the haptic rendering device in the virtual endoscope environment, the virtual endoscope technology with haptic perceptual mechanical feedback function is preliminarily realized.

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