手术切割模拟中基于模糊规则的触觉建模与绘制.pdfVIP

Vol. 32, No. 2 ACTA AUTOMATICA SINICA March, 2006 Haptic Modeling and Rendering Based on Neurofuzzy Rules for Surgical Cutting Simulation1) SONG Wei-Guo YUAN Kui FU Yu-Jin (Institute of Automation, Chinese Academy of Sciences, Beijing 100080) (E-mail: kui.yuan@mail.ia.ac.cn) Abstract This paper combines image processing with 3D magnetic tracking method to develop a scalpel for haptic simulation in surgical cutting. First, a cutting parameter acquisition setup is presented and the performance is validated from soft tissue cutting. Then, based on the acquired input-output data pairs, a method for fuzzy system modeling is presented, that is, after partitioning each input space equally and giving the premises and the total number of fuzzy rules, the consequent parameters and the fuzzy membership functions (MF) of the input variables are learned and optimized via a neurofuzzy modeling technique. Finally, a haptic scalpel implemented with the established cutting model is described. Preliminary results show the feasibility of the haptic display system for real-time interaction. Key words Cutting force acquisition, image processing, fuzzy neural network, haptic modeling, haptic display, surgery simulation 1 Introduction As a new training method, surgery simulation attracts more and more research interests due to its flexibility, convenience and low cost. Most of the present prototypes only emphasize on visualization of the soft tissue, and cutting is visualized by geometry models[1,2] . Apart from the visual