针对一类面模型的软组织变形触觉仿真问题,提出了一种基于半边数据结构和AABBs(Aligned Axis Bounding Boxes)树结构混合的碰撞检测响应方法,命名为层次半边观察法,以适应触觉反馈计算的高帧率要求。触觉反馈仿真了膜组织的粘弹性力和粘滞性摩擦效果。粘滞性摩擦由修改的滞滑摩擦模型实现。膜组织的变形基于简单的质点弹簧模型建模。实验表明,提出的方法与单一的使用AABBs树结构方法相比,具有较高效率。记录的力反馈曲线清晰的反映了膜组织的粘滞性摩擦特征。该方法将是建立白内障虚拟手术仿真器的基础。A hybrid collision detect and response method named as hierarchy half-edge watching method was proposed, which was adapted to surface models of soft tissue based on half-edge data structure and hierarchies of axis-aligned bounding boxes (AABBs) to satisfy the higher frame rates in haptic feedback. The haptic feedback for membrane tissue consists of the visco-elastic force and sticking-sliding friction force. The friction was calculated by modified stick-slide model. The deformation of membrane soft tissue is based on mass spring model. The visual threading and haptic threading communicates each other in terms of a synchronizer. The experiment results show that the presented method is faster than AABBs method used solely. The character of the stick-slide friction is reflected by the chart of the recorded force feedback magnitude. The method is the base of the virtual surgery simulator in the cataract resection.国家自然科学基金(60371012);; 福建省科技重点项目(2002Y021);; 厦门市科技计划重点项目(3502Z20041044
