CAJ | 학술논문

针对使用机器人进行腹腔微创胆囊手术仿真时胆囊的变形问题，研究了按压胆囊时胆囊的变形过程。建立了胆囊及其附属管路的几何模型，针对该几何模型建立了基于弹簧-质点模型的力学模型。提出了使用手术器械按压胆囊时的手术仿真算法，对该仿真算法进行了验证。图形反馈表明该算法可以实现胆囊及其附属管路的按压操作仿真，其图形反馈较为真实，实时性也较好。仿真结果表明：该算法可用于医学仿真，可实际应用于胆囊及其附属管路的操作仿真。
침대사용궤기인진행복강미창담낭수술방진시담낭적변형문제，연구료안압담낭시담낭적변형과정。건립료담낭급기부속관로적궤하모형，침대해궤하모형건립료기우탄황-질점모형적역학모형。제출료사용수술기계안압담낭시적수술방진산법，대해방진산법진행료험증。도형반궤표명해산법가이실현담낭급기부속관로적안압조작방진，기도형반궤교위진실，실시성야교호。방진결과표명：해산법가용우의학방진，가실제응용우담낭급기부속관로적조작방진。
Aiming at the gallbladder deformation in the minimally invasive gallbladder resection simulation when using the surgical robot performs the surgery, this paper studied the gallbladder deformation process with pressing action and established the geometric model of the gallbladder and its accessory ducts. On account of the geometry model built in the study, the mechanical model is constructed based on the spring-mass model. The study proposed an operation simulation algorithm for the case while the gallbladder is pressed by the surgical instrument and it is validated. The relatively true and timely graphic feedback shows that the algorithm can implement the operation simulation while the gallbladder and its accessory ducts are pressed. The result of simulation indicates that the algorithm can be employed in medical simulations, and can put into actual use in operation simulations of the gallbladder and its accessory ducts.