目前表面容積素化及骨骼肌肉手術模擬系統,已經可以清楚的顯示出骨骼之容積素化模型,以及提供操作切割、辨識…等模擬手術操作的動作,可是並不能反映手術過程中,手術刀接觸到骨骼時所受到的阻力。為了能更真實的模擬手術過程,提供臨床醫師更多資訊以便提高骨骼肌肉手術成功機率,本論文的主要研究目的是,將表面容積素化及骨骼肌肉手術模擬過程中,dirll手術刀所受到的阻力,根據drill手術刀之切割量與drill手術刀所受到的阻力成一比例關係,將之量化並計算出來,並且透過使用PHANTOM力回饋機器反映出力量,使得使用者能夠真實的感受到手術模擬過程中,drill手術刀所受到的阻力。 所以我們提出下列演算法來達成本論文力回饋計算的目的 1. 根據dirll手術刀之實際大小比例,以極座標之方式,依照刀具上的螺旋狀刀刃的位置,及其角度,計算出兩道刀具上的螺旋狀刀刃的容積座標,以利力量之計算。 2. 依照刀具目前在PHANTOM座標系統所在位置,計算出刀具座標所對應的正確容積座標位置,並根據計算力量之位置position的變化與drill刀具之轉速,將刀具之刀刃樣點旋轉一微小角度,以符合刀具正在進行旋轉之狀況,最後再計算當中刀具所受到的阻力。 並且將PHANTOM機器可操作範圍之限制,透過視角之旋轉,以及刀具向使用者拉近、拉遠的方法,來達到可在容積模型之任何位置以及任何角度,來進行鑽孔手術模擬之目的。
Now, Surface Voxelization Surgical Simulation on Musculoskeletal Surgeries can show a voxelization model clearly, and provides some functions for surgical simulation: Section, Recon…etc. But it can’t response the force of scalpel getting in touch with bone during simulation. For simulating surgical process reality, and providing clinical doctor more informations to increase the probability of success on musculoskeletal surgery. This study’s purpose is that try to count the force of the drill scalpel getting in touch with bone during musculoskeletal surgical simulation, and use the PHANTOM machine to response the force. Let user can feel the foce of the drill scalpel getting in touch with bone during musculoskeletal surgical simulation. Therefore, we implement the following algorithms to achieve this purpose. 1. Base on the actual size of drill scalpel , according to the location and angle of the two spiral cutting edge of drill scalpel, we count the voxel coordinate of the two spiral cutting edge of drill scalpel by the method likely polar coordinates. 2. According to the position of PHANTOM, we count the correct voxel coordinate of the coordinate of scalpel. And we count the force of the drill scalpel getting in touch with bone according to the change of the position and angle. And we provide the zoom in , zoom out of the range of the PHANTOM’s workspace according to the rotation of an angle of vision to achieve the purpose that we can simulate the surgery at any position and any angle in voxelization model.
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