›› 2017,Vol. 32 ›› Issue (6): 1198-1213.doi: 10.1007/s11390-017-1794-z

所属专题： Artificial Intelligence and Pattern Recognition

• Special Section on Selected Paper from NPC 2011 • 上一篇    下一篇

嵌入任意三角网格的柔性体的稳定实时手术切割仿真

Shi-Yu Jia, Zhen-Kuan Pan*, Member, CCF, Guo-Dong Wang, Member, CCF, Wei-Zhong Zhang, Member, CCF, Xiao-Kang Yu   

  1. College of Computer Science and Technology, Qingdao University, Qingdao 266071, China
  • 收稿日期:2017-06-19 修回日期:2017-09-15 出版日期:2017-11-05 发布日期:2017-11-05
  • 通讯作者: Zhen-Kuan Pan E-mail:zkpan@qdu.edu.cn
  • 作者简介:Shi-Yu Jia received his Ph.D.degree in mechanical engineering from Yale University,City of New Haven,in 2001.His Ph.D.research is related to finite element analysis and computer simulation of composite material properties.He began working in College of Computer Science and Technology (former College of Information Engineering),Qingdao University,Qingdao,in 2003,and was appointed to associate professor in 2004.
  • 基金资助:

    The work was supported by the National Key Technology Support Program of China during the Twelfth Five-Year Plan Period under Grant No. 2013BAI01B03.

Stable Real-Time Surgical Cutting Simulation of Deformable Objects Embedded with Arbitrary Triangular Meshes

Shi-Yu Jia, Zhen-Kuan Pan*, Member, CCF, Guo-Dong Wang, Member, CCF, Wei-Zhong Zhang, Member, CCF, Xiao-Kang Yu   

  1. College of Computer Science and Technology, Qingdao University, Qingdao 266071, China
  • Received:2017-06-19 Revised:2017-09-15 Online:2017-11-05 Published:2017-11-05
  • Contact: Zhen-Kuan Pan E-mail:zkpan@qdu.edu.cn
  • About author:Shi-Yu Jia received his Ph.D.degree in mechanical engineering from Yale University,City of New Haven,in 2001.His Ph.D.research is related to finite element analysis and computer simulation of composite material properties.He began working in College of Computer Science and Technology (former College of Information Engineering),Qingdao University,Qingdao,in 2003,and was appointed to associate professor in 2004.
  • Supported by:

    The work was supported by the National Key Technology Support Program of China during the Twelfth Five-Year Plan Period under Grant No. 2013BAI01B03.

PDF (PC)

712

手术仿真系统需要模拟柔性体的变形和切割.基于自适应八叉树网格的切割方法将柔性体嵌入八叉树网格中，切割工具轨迹附近的八叉树网格单元被递归细分.变形仅针对八叉树网格实施，因此退化单元导致变形计算不稳定问题被避免了.以前的相关研究工作忽略了生物组织和器官往往包含复杂的内部结构这一事实.针对上述问题，将柔性体构造成嵌入八叉树网格的体素，体素之间由链接相连.被切割工具扫过的链接被切断，而柔性体的面网格由切断的链接构造出来.提出了两种将三角网格嵌入上述柔性体模型的新方法.第一种方法称为面网格嵌入法.该方法适用于任意三角网格，但嵌入的结构不具有物理属性.第二种方法称为物质区域嵌入法.该方法将三角网格包围的区域赋予物理属性，但要求三角网格必须水密，不自相交，并且最小特征尺度小于体素的尺度.仿真算法在仿真运行前将一些局部特征事先计算好，以提高仿真的运行效率.仿真实验表明，我们设计的方法可以正确切割嵌入内部结构的柔性体，并保持柔性体和内部结构切割效果的一致性.切割产生的内部结构碎片可以和柔性体一起正确变形.

Abstract: Surgical simulators need to simulate deformation and cutting of deformable objects. Adaptive octree mesh based cutting methods embed the deformable objects into octree meshes that are recursively refined near the cutting tool trajectory. Deformation is only applied to the octree meshes; thus the deformation instability problem caused by degenerated elements is avoided. Biological tissues and organs usually contain complex internal structures that are ignored by previous work. In this paper the deformable objects are modeled as voxels connected by links and embedded inside adaptive octree meshes. Links swept by the cutting tool are disconnected and object surface meshes are reconstructed from disconnected links. Two novel methods for embedding triangular meshes as internal structures are proposed. The surface mesh embedding method is applicable to arbitrary triangular meshes, but these meshes have no physical properties. The material sub-region embedding method associates the interiors enclosed by the triangular meshes with physical properties, but requires that these meshes are watertight, and have no self-intersections, and their smallest features are larger than a voxel. Some local features are constructed in a pre-calculation stage to increase simulation performance. Simulation tests show that our methods can cut embedded structures in a way consistent with the cutting of the deformable objects. Cut fragments can also deform correctly along with the deformable objects.

[1] Ruthenbeck G S, Reynolds K J. Virtual reality for medical training:The state-of-the-art. Journal of Simulation, 2015, 9(1):16-26.

[2] Bric J D, Lumbard D C, Frelich M J, Gould J C. Current state of virtual reality simulation in robotic surgery training:A review. Surgical Endoscopy, 2016, 30(6):2169-2178.

[3] Wu J, Westermann R, Dick C. A survey of physically based simulation of cuts in deformable bodies. Computer Graphics Forum, 2015, 34(6):161-187.

[4] Mor A B, Kanade T. Modifying soft tissue models:Progressive cutting with minimal new element creation. In Proc. the 3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, October 2000, pp.598-607.

[5] Bielser D, Glardon P, Teschner M, Gross M. A state machine for real-time cutting of tetrahedral meshes. Graphical Models, 2004, 66(6):398-417.

[6] Metzger M C, Gissler M, Asal M, Teschner M. Simultaneous cutting of coupled tetrahedral and triangulated meshes and its application in orbital reconstruction. International Journal of Computer Assisted Radiology and Surgery, 2009, 4(5):409-416.

[7] Courtecuisse H, Allard J, Kerfriden P, Bordas S P A, Cotin S, Duriez C. Real-time simulation of contact and cutting of heterogeneous soft-tissues. Medical Image Analysis, 2014, 18(2):394-410.

[8] Paulus C J, Untereiner L, Courtecuisse H, Cotin S, Cazier D. Virtual cutting of deformable objects based on efficient topological operations. The Visual Computer, 2015, 31(6):831-841.

[9] Molino N, Bao Z, Fedkiw R. A virtual node algorithm for changing mesh topology during simulation. ACM Transactions on Graphics, 2004, 23(3):385-392.

[10] Sifakis E, Der K G, Fedkiw R. Arbitrary cutting of deformable tetrahedralized objects. In Proc. the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, August 2007, pp.73-80.

[11] Wang Y, Jiang C, Schroeder C, Teran J. An adaptive virtual node algorithm with robust mesh cutting. In Proc. the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, July 2014, pp.77-85.

[12] Jia S, Zhang W, Yu X, Pan Z. CPU-GPU mixed implementation of virtual node method for real-time interactive cutting of deformable objects using OpenCL. International Journal of Computer Assisted Radiology and Surgery, 2015, 10(9):1477-1491.

[13] Je?ábková L, Kuhlen T. Stable cutting of deformable objects in virtual environments using XFEM. IEEE Computer Graphics and Applications, 2009, 29(2):61-71.

[14] Kaufmann P, Martin S, Botsch M, Grinspun E, Gross M. Enrichment textures for detailed cutting of shells. ACM Transactions on Graphics, 2009, 28(3):50:1-50:10.

[15] Turkiyyah G M, Karam W B, Ajami Z, Nasri A. Mesh cutting during real-time physical simulation. Computer-Aided Design, 2011, 43(7):809-819.

[16] Lim Y J, Hu J, Chang C Y, Tardella N. Soft tissue deformation and cutting simulation for the multimodal surgery training. In Proc. the 19th IEEE International Symposium on Computer-Based Medical Systems, June 2006, pp.635-640.

[17] Steinemann D, Otaduy M A, Gross M. Splitting meshless deforming objects with explicit surface tracking. Graphical Models, 2009, 71(6):209-220.

[18] Pietroni N, Ganovelli F, Cignoni P, Scopigno R. Splitting cubes-A fast and robust technique for virtual cutting. The Visual Computer, 2009, 25(3):227-239.

[19] Müller M, Heidelberger B, Hennix B H M, Ratcliff J. Position based dynamics. In Proc. the 3rd Workshop in Virtual Reality Interactions and Physical Simulations, Nov. 2006, pp.71-80.

[20] Bender J, Koschier D, Charrier P, Weber D. Position-based simulation of continuous materials. Computers & Graphics, 2014, 44:1-10.

[21] Pan J, Bai J, Zhao X, Hao A, Qin H. Real-time haptic manipulation and cutting of hybrid soft tissue models by extended position-based dynamics. Computer Animation & Virtual Worlds, 2015, 26(3/4):321-335.

[22] Berndt I, Torchelsen R, Maciel A. Efficient surgical cutting with position-based dynamics. IEEE Computer Graphics and Applications, 2017, 38(3):24-31.

[23] Je?ábková L, Bousquet G, Barbier S, Faure F, Allard J. Volumetric modeling and interactive cutting of deformable bodies. Progress in Biophysics and Molecular Biology, 2010, 103(2/3):217-224.

[24] Seiler M, Steinemann D, Spillmann J, Harders M. Robust interactive cutting based on an adaptive octree simulation mesh. The Visual Computer, 2011, 27(6/7/8):519-529.

[25] Dick C, Georgii J, Westermann R. A hexahedral multigrid approach for simulating cuts in deformable objects. IEEE Transactions on Visualization and Computer Graphics, 2011, 17(11):1663-1675.

[26] Wu J, Dick C, Westermann R. Efficient collision detection for composite finite element simulation of cuts in deformable bodies. The Visual Computer, 2013, 29(6/7/8):739-749.

[27] Ju T, Losasso F, Schaefer S, Warren J. Dual contouring of hermite data. ACM Transactions on Graphics, 2002, 21(3):339-346.
No related articles found!
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] 张钹; 张恬; 张建伟; 张铃;. Motion Planning for Robots with Topological Dimension Reduction Method[J]. , 1990, 5(1): 1 -16 .
[2] 王克;. Polynomial Tests of Normal Forms and Some Related Results[J]. , 1992, 7(1): 75 -82 .
[3] 徐庆云; 王能斌;. Concurrency Control Mechanism of Complex Objects[J]. , 1992, 7(4): 305 -310 .
[4] 金国华; 杨学军; 陈福接;. Loop Staggering,Loop Compacting:Restructuring Techniques for Thrashing Problem[J]. , 1993, 8(1): 49 -57 .
[5] 曾建超; HidehikoSanada; YoshikazuTezuka;. A Form Evaluation System and Its Data Structure for Brush-Written Chinese Characters[J]. , 1995, 10(1): 35 -41 .
[6] 余盛可;. Reasoning in H-Net: A Unified Approach to Intelligent Hypermedia Systems[J]. , 1996, 11(1): 83 -89 .
[7] 庄旗铭; 蒋定安; 杨庆;. A Comparative Analysis of Different Arbitration Protocols for Multiple-Bus Multiprocessors[J]. , 1996, 11(3): 313 -325 .
[8] 徐拾义; 陈斯;. The Methodology of Testability Prediction for Sequential Circuits[J]. , 1996, 11(6): 529 -541 .
[9] 孙济洲; Richard L;. A Radiosity Solution for Curved Surface Environments[J]. , 1997, 12(5): 414 -424 .
[10] 陈阳军;. Counting and Topological Order[J]. , 1997, 12(6): 497 -509 .
版权所有 © 《计算机科学技术学报》编辑部
本系统由北京玛格泰克科技发展有限公司设计开发 技术支持：support@magtech.com.cn
总访问量：