An Algorithm for Computing Soft Tissue Force Balance Based on Successive Approximation
PIAO Mingbo1, FU Yili2, XIU Ligang3
1. School of Mechanical Engineering, Liaoning Technical University, Fuxin 123000, China;
2. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China;
3. Armored Force Technical School of PLA, Changchun 130117, China
朴明波, 付宜利, 修立刚. 一种基于逐次逼近法求解软组织力平衡的方法[J]. 机器人, 2011, 33(6): 679-684..
PIAO Mingbo, FU Yili, XIU Ligang. An Algorithm for Computing Soft Tissue Force Balance Based on Successive Approximation. ROBOT, 2011, 33(6): 679-684..
The force balance of the soft tissue should be computed in the celiac minimally invasive surgery to get the graphic feedback of the soft tissue deformation.The geometrical model of gallbladder and its accessory ducts upon which the spring-mass mechanical model is bestowed is established,and a force balance algorithm based on successive approximation is presented to compute the soft tissue force balance.The algorithm is easy to implement,the programming workload is small,and the real-time performance is good.The simulating result shows that the algorithm can generate relatively factual graphic feedback of the soft tissue and can be used in soft tissue simulation.
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