Surgical simulation model generating method, surgical simulation method, and surgical simulator

摘要

A surgical simulation model generating method includes: a first process in which a computing unit acquires geometrical information of an organ from a medical image stored in a storage unit, including an image of the organ, and generates volume data for the organ; a second process in which, after the first process, the computing unit forms nodal points by meshing the organ represented by the generated volume data; a third process in which the computing unit generates a simulated membrane that covers the organ represented by the volume data meshed in the second process; and a fourth process in which the computing unit generates a simulated organ by drawing an imaginary line so as to extend from each nodal point formed on a surface of the organ represented by the volume data meshed in the second process in a direction that intersects the simulated membrane and thereby forming a membrane nodal point at a point where the imaginary line intersects the simulated membrane generated in the third process, and by arranging on each imaginary line an imaginary inter-membrane spring that connects between the nodal point formed on the surface of the organ and the membrane nodal point, while also arranging an in-plane spring that connects between adjacent membrane nodal points on the simulated membrane.

主权项

1. A surgical simulation method comprising:
a force sensing simulation process in which a computing unit causes a force sensing device to produce reaction of a simulated organ that matches the position of a simulated surgical instrument being manipulated by a surgical simulation operator and the position where said simulated surgical instrument touches said simulated organ; a simulated motion computing process in which said computing unit acquires, from a storage unit, surgical simulation model data for a simulated organ having an organ represented by meshed volume data and a simulated membrane covering said organ represented by said meshed volume data, said simulated organ being generated by drawing an imaginary line so as to extend from each nodal point formed on a surface of said organ represented by said meshed volume data in a direction that intersects said simulated membrane and thereby forming a membrane nodal point at a point where said imaginary line intersects said simulated membrane, and by arranging on each imaginary line an imaginary inter-membrane spring that connects between said nodal point formed on the surface of said organ and said membrane nodal point, while also arranging an in-plane spring that connects between adjacent membrane nodal points on said simulated membrane, and said computing unit then computes the reaction of said simulated organ due to a movement of said simulated surgical instrument and the touching of said simulated organ with said simulated surgical instrument in said force sensing simulation process, and supplies said computed reaction to said force sensing simulation process, while at the same time, computing the position achieved by the motion of said simulated organ; an image generation process in which said computing unit generates, based on the position of said simulated organ computed in said simulated motion computing process, a simulated image of said simulated organ as seen from a simulated endoscope; and an image display process in which said computing unit displays said image generated in said image generation process on a display unit, wherein in said simulated motion computing process, said computing unit computes the reaction, f, of said simulated organ by using an equationM⁢U¨+C⁢U.+Kf⁡(U)=fKf⁡(U)=∫0U⁢K⁡(u)⁢⁢ⅆu where displacement vector U represents a positional displacement of said simulated organ stiffness matrix Kf represents a physical value of said simulated organ and is generated using spring constants of said imaginary inter-membrane spring and in-plane spring by integrating stiffness matrix K(u) which is given as a function of position vector u with respect to position vector u, matrix M is a mass matrix, and matrix C is a viscosity resistance matrix.