| The virtual surgery of abdominal surgery robot is an important application of virtual reality technology in the field of abdominal surgery.Compared with traditional surgery,the virtual operation of abdominal surgery robot has the advantages of risk-free,harmless and repeatability.As one of the key technologies of the abdominal robotic system,the study of abdominal surgery robot operation is of great significance in simulating the process of real surgery and shortening the training time of doctors.Combining the Chinese National Programs for High Technology Research and Development project "Industrial development based on large minimally invasive robot for laparoscopic surgery",the model of celiac minimally invasive surgical robot is designed,the forward kinematics and the inverse kinematics of the robot model is analyzed,the geometric model of the main organs of the abdominal cavity and the biomechanical model of the operation object are established,the virtual platform is designed,and the research on operation simulations of pressing and clamping the model of the surgery object and that of cutting operation and stitching operation are performed.Firstly,the model is built in abdomen oriented to celiac minimally invasive surgery,robot model and surgical instrument model.And the parameters of the relevant model are set,such as local coordinates.In order to increase the authenticity,the information such as material and texture is added.The virtual surgery simulation platform is established with the combination of relevant hardware and software equipment,and the roaming interaction of surgical scenes is implemented.Secondly,based on the analysis of the advantages and disadvantages of various remote center mechanisms,the parallel quadrilateral remote center mechanism model is designed.Based on this,the arm length parameters of the robot model are determined.The kinematics of the abdominal robot is analyzed,and the forward kinematics and the inverse kinematics of the remote center positioning mechanism are analyzed to position the remote center.The movement relationship between Omega 7.0 and the robotic arm of the abdomen surgery robot are established,and the motion simulation of the manipulator of the robot through Omega 7.0 is implemented.Then,the physical model of soft tissue is established based on its biomechanics characteristic,and the modeling method is called mass-spring models.The collision detection algorithm between the surgical instrument and the surgical object is established.According to the law of particle distribution,a method for calculating the force balance is put forward.On this basis,the feedback force in the process of gallbladder compression deformation is calculated,and the simulation operation and force interaction of gallbladder compression deformation is realized.Combining with the physical model of gallbladder,force balance calculation and force feedback calculation are carried out,simulation algorithm for gallbladder clamping deformation is designed,and the simulation operation and force interaction of gallbladder clamping deformation are realized.Finally,the mesh model for surgical objects is established.By means of the adjacency search method of adjacent triangular patches,the efficiency of collision detection can be improved.Cutting of gallbladder grid model is realized by surface triangular mesh cutting algorithm.By using the spring model,the suture line is established,the self-collision detection algorithm is ensured,and the knot tying simulation is realized.The friction and tension,which is involved in the interaction between the suture and soft tissue,is analyzed and the process of soft tissue suture is simulated. |
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