北京生物医学工程

基于力反馈的腰椎内固定虚拟手术训练系统构建

A virtual reality surgical simulator with haptic feedback for lumbar pedicle screw fixation

作者：林艳萍郭晓杰陈华江张颖袁文王成焘

单位：陈华江。E-mail: spine.chen@163.com

分类号：R318; TP391.9

出版年·卷·期（页码）：2016·35·6（561-566）

摘要：

目的为实现虚拟手术环境全方位的实时交互，本文针对脊柱腰椎椎弓根螺钉内固定手术构建了虚拟手术训练系统。方法通过脊柱模型的虚拟几何建模和纹理渲染以高真实感地模拟真实虚拟手术环境，同时基于椎体骨的体素模型通过多点碰撞检测算法和钻骨力预测经验模型，实现钻骨操作的碰撞检测及反馈力实时计算，并模拟椎弓根钉植入过程的视觉和触觉感受。结果该虚拟手术训练系统实现了虚拟视觉及虚拟力触觉的实时交互，模拟了椎弓根钉植入操作手感。结论虚拟手术训练系统为椎弓根螺钉内固定手术操作提供了视觉与力触觉模拟，实现了一种精确、安全、灵活的训练方式。

Objective In order to provide a basically realistic training for bone drilling in spine surgery, we developed a virtual reality surgical training simulator with haptic feedback for pedicle screw fixation. Methods The virtual spine model was constructed from computed tomography images for visual rendering and the voxel-based model was used for haptic rendering. The haptic forces were computed in real time based on the experience force model and multi-point collision detection utilizing Omega.6 as the haptic device. Results Bone drilling procedures for pedicle screw fixation were simulated with real-time visual and haptic feedback. In this simulator, the surgical trainees could practice the procedure with different inputs to train their perception. Conclusions This simulator can provide a training alternative for trainees in pedicle screw fixation.

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