Application of Image Processing and Virtual Reality Technologies in Simulation of Laparoscopic Procedures

摘要

In this paper we focus on developing the simulators of laparoscopic surgery procedures. We propose expanding the role of video channel, which allows to reduce the mechatronic systems providing information about the spatial position of instruments. The mechatronic structure is indispensable in order to achieve the effect of haptic feedback, however in the proposed solution it is much simpler, than as in the case of currently occurring solutions. In proposed issue, mechatronic consists of actuators with a simple control software only. Entire perception (data acquisition) for the realization of haptic feedback is implemented using the video channel. Moreover, haptic feedback effect is supported by the dynamics calculations made in the graphics software. While calculating of the movement of the objects, their collisions and associated with that deformations, the physics engine purveyed current value of forces, torques, speed or acceleration to haptic feedback fittings.