Üç boyutlu modellenen organlar üzerinde dokunsal cihaz kullanılarak deformasyonun simülasyonu

Günümüzde, bilgisayar grafiklerindeki gelişmeler sayesinde, birçok nesnenin asıllarına uygun şekilde sanal ortamda 3B modellenebilmesinde kayda değer gelişmeler elde edilmektedir. Tıp eğitiminde geliştirilen simülatörler ile organlar üzerinde doktor adaylarının çeşitli senaryolar kullanarak sayısız tekrar yapmalarına olanak sağlanarak pratik kazanmaları gerçekleştirilmektedir. Bu çalışmada, insan vücudu içerisinde bulunan safra, böbrek ve dalak gibi yumuşak dokuya sahip organların deformasyon algoritmaları ile yüzeysel benzetimlerinin yapılabilmesi için bir simülatör yazılım platformu geliştirilmiştir. Geliştirilen simülatör üzerinde, tasarlanan dokunsal cihaz donanımı ile anatomik yapılarına uygun şekilde 3B olarak modellenen organlar üzerine dokunulduğunda ya da çekme kuvveti uyguladığında model üzerinde gerçekleşen deformasyonun gerçekleşmesi sayesinde geri bildirim sağlanmıştır. Çalışmada, deformasyonun alınabilmesi için kütle yay ve moleküler modelleme metotları kullanılmıştır. Ek olarak, dokunsal cihaz ile modellenmiş örgü yapısı içerisinde hangi noktaya temas edildiğinin tespiti için çarpışma tespiti yöntemi tercih edilmiştir. Çalışma kapsamında geliştirilen simülatör üzerindeki tüm benzetimler, OpenGL kütüphanesi içerisinde bulunan fonksiyonlar kullanılarak gerçek zamanlı olarak gerçekleştirilmiştir. Ayrıca simülatörden toplamda 11 acemi ve uzman kullanıcı için simülasyon geri bildirimleri toplanmış ve her bir yumuşak doku için kullanıcıların elde ettikleri operasyon süreleri karşılaştırılmıştır. Yürütülen deneysel çalışmalar ve istatiksel analizler neticesinde, geliştirilen yazılım platformunun temas tespiti, tepki kuvveti, gerçek zamanlı benzetim ve deformasyon sonuçlarının görsel olarak ve hız açısından istenilen seviyede olduğu görülmüştür.

Anahtar Kelimeler:

Bilgisayar grafikleri, deformasyon algoritmaları, dokunsal cihazlar, simülasyon, kütle-yay sistemleri

Simulation of deformation on 3D organ models using haptic device

Nowadays, thanks to the improvements in computer graphics, remarkable improvements are achieved in 3D modelling in virtual environment in accordance with many original objects. In medical training, simulators are developed to enable physician candidates to make numerous repetitions using various scenarios and gain practical experience. In this study, a simulator software platform is developed to simulate the deformation of 3D organ models with soft tissues such as gallbladder, kidney and spleen in the human body using deformation algorithms. In the system, firstly, organs are modelled in 3D according to their anatomical structure. On the developed simulator, feedback is provided by the deformation realized on the model when the organ is touched or applied tensile force by designed haptic device. In the study, mass spring method and molecular modelling method are used to obtain deformation 3D models. In addition, collision detection method is preferred to determine which point is contacted in the mesh structure modelled with haptic device. All simulations on the simulator developed in the study are performed in real time using the functions available in the OpenGL library. In addition, simulation feedbacks for 11 novice and expert users are collected from the simulator and the operation times obtained by the users for each soft tissue are compared. As a result of the experimental studies and statistical analysis, it has been seen that the collision detection, reaction force, real-time simulation and deformation results of the software platform are at the desired level visually and in terms of speed.

Keywords:

Computer graphics, deformation algorithms, haptic device, simulation, mass-spring system,

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