北京生物醫(yī)學(xué)工程

一種具有觸覺(jué)再現(xiàn)功能的人體心臟組織虛擬內(nèi)鏡系統(tǒng)

Investigation on the virtual endoscopic for human heart tissue withhaptic rendering

作者：劉明雨項(xiàng)士海

單位：沈陽(yáng)工業(yè)大學(xué)電氣工程學(xué)院生物醫(yī)學(xué)工程系(沈陽(yáng)110870)

關(guān)鍵詞：觸覺(jué)再現(xiàn)裝置；位置編碼器；虛擬內(nèi)鏡技術(shù)；直流電機(jī)；CHAI3D

分類(lèi)號(hào)：R318.04

出版年·卷·期（頁(yè)碼）：2020·39·1（34-41）

摘要：

目的傳統(tǒng)的虛擬內(nèi)鏡檢查過(guò)程中，操作者不能感知器官或病變組織與虛擬內(nèi)鏡探頭的相互作用力，存在誤判的可能。為在一定程度上解決該問(wèn)題，本文研究并實(shí)現(xiàn)了一種具有觸覺(jué)再現(xiàn)功能的虛擬內(nèi)鏡系統(tǒng)。方法首先，構(gòu)建了由傳動(dòng)絞輪、觸覺(jué)手柄與基座組成的人機(jī)物理接口，采用Arduino作為主控制器接收虛擬環(huán)境中虛擬探頭與組織的作用力，控制直流電機(jī)輸出不同的扭矩，驅(qū)動(dòng)人機(jī)物理接口實(shí)現(xiàn)力的傳輸和再現(xiàn)；然后，設(shè)計(jì)以磁阻傳感器KMA210為核心的位置編碼器，檢測(cè)裝置中觸覺(jué)手柄的位移信息，控制虛擬環(huán)境中內(nèi)鏡探頭的移動(dòng)；最后，設(shè)計(jì)了通信接口，采用CHAI3D開(kāi)發(fā)了人體心臟組織的虛擬內(nèi)鏡仿真環(huán)境，并對(duì)虛擬環(huán)境和觸覺(jué)再現(xiàn)裝置進(jìn)行了集成，做了測(cè)試和驗(yàn)證。結(jié)果該觸覺(jué)再現(xiàn)裝置能夠在單自由度方向上控制虛擬環(huán)境中的探頭，再現(xiàn)虛擬環(huán)境下內(nèi)鏡與心臟內(nèi)部組織或血管的(0~3 N)相互作用力。結(jié)論通過(guò)對(duì)虛擬內(nèi)鏡環(huán)境下觸覺(jué)再現(xiàn)技術(shù)的研究，初步實(shí)現(xiàn)了具有觸覺(jué)感知力學(xué)反饋功能的人體心臟組織虛擬內(nèi)鏡系統(tǒng)。

Objective In the traditional virtual endoscopic examination process, the operator cannot perceive the interaction force between the the diseased tissue and the virtual endoscopic probe, and there is a possibility of misjudgment. In order to solve this problem to a certain extent, this paper studies and implements a virtual endoscopic system with haptic rendering function. Methods Firstly, the human-machine physical interface was constructed with the transmission winch, the haptic handle and the base. Arduino was taken as the main controller to receive the force from the virtual probe and the tissue in the virtual environment. The DC motor was also controlled by the Arduino to drive the human-machine physical interface and realize the transmission and rendition of force. Secondly, we designed the position encoder with the magnet sensor KMA210, which detect the displacement information of the tactile handle in the device, and control the movement of the endoscopic probe in the virtual environment. Finally, we designed the communication interface and adopted CHAI3D to develop a virtual endoscopic simulation environment for human heart tissue. The virtual environment and the haptic rendering device were integrated and the test results were given. Results The haptic rendering device could control the endoscope in the virtual environment in single degree of freedom and reproduce the (0-1.6 N) interaction between the endoscope and the internal tissue or blood vessel of the heart in the virtual environment. Conclusions Through the research on the haptic rendering device in the virtual endoscope environment, the virtual endoscope technology with haptic perceptual mechanical feedback function is preliminarily realized.

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