CHUNG YUAN CHRISTIAN UNIVERSITY;TAIPEI MEDICAL UNIVERSITY
发明人:
蔡明达,蔡明達,谢铭勳,謝銘勳
申请号：
TW097135463
公开号：
TWI367462B
申请日:
2008.09.16
申请国别(地区):
TW
年份:
2012
代理人:
摘要：
A method is provided for generating real-time haptic response information for a haptic simulating device during a surgery simulation performed on an object volume by a virtual tool that is associated with the haptic simulating device. The object volume includes tissue voxels, null voxels, and object boundary points located between corresponding adjacent pairs of the tissue and null voxels. The method includes: (a) obtaining a current center position of the virtual tool； (b) determining a current tool subvolume of the object volume； and (c) upon determining that the current tool subvolume has at least one tissue voxel, performing the sub-steps of: (c-1) determining positions of tool boundary points within the current tool subvolume, (c-2) updating labeling of the voxels within the current tool subvolume and replacing an original set of the object boundary points within the current tool subvolume with a new set of the object boundary points, and (c-3) providing force information of a force to be generated by the haptic simulating device.一種即時觸覺及顯像反應的模擬方法，係由一程式軟體配合一顯示器及一力回饋器執行包含下述步驟：(a)界定一工具的一掃過範圍並運算產生該工具相對於一容積之模擬畫面予該顯示器顯像；及(b)當該工具之掃過範圍與該容積相互接觸時，依據碰觸情況驅動該力回饋器產生與該模擬畫面相互協調的觸感。本發明的功效在於，運用工具的掃過範圍進行運算，在視覺上，能呈現精確的幾何結構，在觸覺上，能感受精確的切割力，且由於無須複雜的運算，觸覺及顯像能即時反應而相互協調。
