基于离散能量法的牙体预备仿真力觉渲染算法

王玉慧; 张玉茹; 王党校

基于离散能量法的牙体预备仿真力觉渲染算法

北京航空航天大学机械工程及自动化学院, 北京 100083

基金项目: 国家自然科学基金资助项目(50275003)

详细信息

作者简介:
王玉慧(1964-),女,河南郑州人,博士生,wangyuhui11@sina.com.

中图分类号: TP 391.9
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- 被引次数: 0
出版历程
- 收稿日期: 2004-10-30
- 网络出版日期: 2005-07-31

Haptic rendering algorithm based on discrete energy optimization method of preparation of human tooth

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 在力觉交互的虚拟现实系统中,力的逼真度和系统稳定性是系统的两个重要性能.在力觉交互虚拟现实牙医培训系统中,通过力反馈设备作用在医生手上的力直接影响培训质量.采用四面体剖分建立人类牙齿的实体模型.结合经验公式和实验数据,提出了一种牙体预备虚拟切削力模型,研究了保证系统稳定性和虚拟力逼真度的算法,并利用离散能量法对等采样间隔的切削力序列进行渲染处理,使得力信号在力的逼真度和系统稳定性之间得到优化解,较好地消除了力序列中的高频振动,从而改善了力觉交互虚拟现实牙医培训系统的性能.
- 虚拟现实 /
- 牙科 /
- 逼真度 /
- 稳定性 /
- 触觉渲染
Abstract: Fidelity and stability are two keys of performance of virtual reality haptic interaction system. In virtual reality haptic interaction system of dental preparation, force acting on dentist who receives training is a key factor of training effect. Volumetric model of human tooth was constructed based on laser scanning data and tetrahedral division of tooth model was implemented. A method to calculate cutting force was proposed by combining empirical formula and experimental data. Optimum haptic rendering algorithm was studied to guaranteeing fidelity and stability of that haptic system. In order to solve the contradiction between fidelity and stability, haptic rendering algorithm based on discrete energy optimization algorithm was proposed. That algorithm processed force series with constant time difference. As a result, optimized cutting force signals between fidelity and stability were obtained. Experimental results show that this algorithm restrains vibration in high frequency of haptic device. Performances of human machine interactive haptic dental training system are improved.
- virtual reality /
- dentistry /
- fidelity /
- stability /
- haptic rendering

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参考文献(1)

[1] Zilles C B,Salisbury J K. A constraint-based god-object method for haptic display .In:Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 'Human Robot Interaction and Cooperative Robots' . Pittsburgh,PA,1995.146~151 [2] Wang D X, Zhang Y R, Wang Y H, et al. Development of dental training system with haptic display . In:2003 IEEE International Workshop on Robot and Human Interactive Communication . California,2003. 159~164 [3] 王党校,张玉茹,王玉慧,等.实时力觉交互的虚拟力计算及渲染方法[J] 统仿真学报,2004,16(7):1494~1498 Wang Dangxiao, Zhang Yuru, Wang Yuhui, et al.Force computation and rendering method for real-time force display[J] Journal of System Simulation,2004,16(7):1494~1498(in Chinese) [4] 王党校,张玉茹,王玉慧,等. 约束切换与阻抗显示力反馈设备的稳定性研究[J] 器人,2004,26(2):97~101 Wang Dangxiao, Zhang Yuru, Wang Yuhui, et al. Constraint switching and stability issues in impedance display force feedback device[J] obot, 2004,26(2):97~101(in Chinese) [5] Kechagias L, Bors A G, Pitas I. Virtual drilling sculpturing in 3-D volumes . In:Proceedings of the 23rd Annual Embs International Conference of the IEEE .Istanbul, 2001.25~28 [6] 王党校. 牙科手术模拟的力觉交互仿真方法研究 .北京:北京航空航天大学机械工程与自动化学院,2004 Wang Dangxiao. Haptic interaction technology for dental surgery simulation .Beijing:School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics,2004(in Chinese) [7] 张幼桢.金属切削原理及刀具[M] 京:国防工业出版社, 1990. 163~180 Zhang Youzhen. Metallic cutting theory and tool[M] eijing:National Defence Industry Press, 1990. 163~180(in Chinese) [8] 朱心雄.自由曲线曲面造型技术[M] 京:科学出版社,2000. 364~366 Zhu Xinxiong. Modeling technique of freeform curve and surface[M] Beijing:Science Press, 2000. 364~366(in Chinese)

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