容積資料表現之力回饋裝置之實現

Realization of Haptic Device under Volume Representation

蕭博文(Po-Wen Hsiao)

指導教授 ： 蔡明達

中原大學/工學院/資訊工程研究所/碩士(2005年)

https://doi.org/10.6840/cycu200500728

摘要

計算機圖學在醫學上的一個應用是建立人體的立體組織模型。我們利用斷層掃描片，建立骨骼的容積模型，利用此虛擬實境建立的容積顯像模擬系統，可讓醫師做立體的檢視及與虛擬的組織互動，使診斷結果更正確，醫師也可以在此容積模型下模擬手術進行，設計手術計畫及驗證，或是利用此系統做手術模擬，訓練缺乏臨床經驗的醫師或學生。

本論文在原先的手術模擬系統架構下提出新增力回饋之功能，搭配支援力回饋的硬體裝置，在骨骼容積模型中新增一模擬的drill刀具。此刀具模型可以在容積模型空間中移動，並且與容積模型互動。當刀具接觸到骨骼時，使用者將可以感覺到真實的力量回饋，而啟動模擬刀具在骨骼模型上模擬鑽孔時，使用者也會感受到如同真正的drill回傳的切削力量，並且將可以看到骨骼模型的改變。在視覺之外增加了觸覺方面的虛擬實境，提供觸覺上的互動，將可以使得原本的手術模擬系統更加真實。

關鍵字

容積 ； 虛擬實境 ； 力回饋

並列摘要

A major application of virtual reality in medicine is to construct 3D human tissue model. We use computed tomography to build the volume model of the bone tissue, and the simulating system based by volume rendering virtual reality can be used by doctors to observe bone tissues three-dimensionally, and interact with the virtual bone tissue, to make diagnosis accurate. Doctors are also able to simulate surgical operation in the volume model, to design a surgical plan and to testify it, or to train doctors or students without clinical experience.

This study constructs a force feedback system under previous surgical simulating system. With the hardware device to provide force feedback mechanism, we simulate a drill scalpel in the volume model. This simulated scalpel can travel in volume space, and interact with volume model. When scalpel touched bone tissue, it send a force back to user’s hand like there is an object. And when user activate the drill and simulate tunneling operate on bone tissue, user can feel like a real force feedback like a real drill will do, and can see the changes about model. By adding sense of touch, we provide an interact that can make the simulating system more factually.

並列關鍵字

force feedback ； virtual reality ； volume

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