- 學位論文
腹腔微創手術虛擬實境訓練系統之開發
Development of VR Training System in Laparoscopic Surgery
摘要
本研究之目的為利用VR虛擬實境技術在個人電腦上開發一套微創手術之模擬訓練系統，其中包含膽囊摘除、大腸切除、卵巢囊腫摘除課程，並針對微創手術課程中所需之功能，如：器官拉動後的彈性與觸壓即時變形、因器官與器官之間的碰撞變形、器官剪切、囊腫的破裂模擬、組織的電燒以及止流夾的置放等，在Unity3D的虛擬實境平台上，依手術的標準作業流程進行開發。 此外為了達到課程的擬真特效，本研究使用PhysX與Nvidia Flex物理系統來組成質點彈簧模型(Mass Spring Moldel, MSM)，以Visual C#開發腳本於Unity3D平台中，並導入Geomagic Touch力回饋設備與hTC vive讓使用者在操作過程中具有力量回饋與深入其境的感受。本虛擬實境的課程可讓使用者對於腹腔境微創手術的操作與流程更加了解，進而提升使用者對於微創手術之熟練度。
並列摘要
The purpose of this study is to develop a simulation training system of minimally invasive surgery with virtual reality technology in the personal computer. There are three training courses in the system such as cholecystectomy, colostomy, and cystectomy. In order to simulate reality of courses, some special effects are created in the study such as elastic deformation of the organ after pulled or collided, cutting of an organ with elastic deformation model, cyst rupture and hemorrhage simulation, electrocautery effect of fat tissue and action of hemostatic clip, and etc. The system is developed in Unity3D virtual reality platform according to the operation of the standard operating procedures. Besides, PhysX and Nvidia Flex physical system is used in the study to build mass spring model (MSM) by Visual C# script in Unity3D platform. And Geomagic Touch force feedback device and hTC Vive VR device are connected to the system. These devices allow users to have the feeling of virtually being there. All courses in the study allow users to understand the operation and process of minimally invasive surgery with Laparoscopy, and enhance user's proficiency in a surgery.