臺灣博碩士論文加值系統

本論文的目的是開發一套模擬軟組織即時形變及切割的演算法，以模擬植牙手術中針對牙齦的處理，並導入力回饋機構提供使用者力量感受。
本論文提出Local Search演算法並整合Virtual Proxy演算法，相較傳統軟組織變形後需重建資料結構，本論文具有毋需重建資料結構與即時連續碰撞偵測(Continuous Collision Detection, CCD)之優點。此外，利用質量彈簧系統(Mass Spring System, MSS)演算法模擬軟組織形變效果，並結合Node Snapping演算法以模擬手術器具移動路徑，最後加上分網格演算法成功產生手術器具切割牙齦時所造成的切口，如此一來不僅可以快速估計器械接觸軟組織與器械所造成的切口大小之形變，並可計算當下手持器械的力量大小，透過力回饋裝置，回饋對應的力量感受給使用者。
由本論文中的實驗結果得知，本論文可針對牙齦的受力效果提供擬真的形變，及針對切割牙齦時提供擬真的切口效果及力量感受，如此一來即可做為牙醫師及在學生一套可客製化且真實的植牙教育訓練系統以提升牙醫師的手術經驗。

關鍵字：碰撞偵測、MSS、力回饋、Virtual Proxy、Node Snapping

The aim of this thesis is to develop a Haptic surgical training system to simulate immediately the deformation and cutting effect of the soft tissue in the oral implant surgery.
In this thesis, a local search algorithm is proposed and combined with Virtual Proxy algorithm to achieve continuous collision detection without re-building or modifying hierarchy structure.
In this system, a Mass Spring System (MSS) algorithm is used to simulate the realistic deformation of the soft tissue when the cutter collides with the gingival. Moreover, we use a Node Snapping algorithm to simulate the cutter movement and then split the triangular meshes under the movement. Finally, the splitting shape is determined by the MSS. The MSS is also used for the Haptic rendering during the cutting treatment. Therefore, users can feel the intuitive force feedback by the Haptic device.
According to the experiment, the proposed algorithm can offer a realistic experience by visual and tactile sensing in soft tissue deformation and cutting operation. In addition, the algorithm is integrated into an oral implant training system to improve users’ skills and increase their experiences.

Keywords: Collision Detection, MSS, Haptic Device, God Object、Node Snapping

摘要 I
Abstract II
目錄 III
圖目錄 V
表目錄 VII
第一章 緒論 1
1.1前言 1
1.2研究動機 2
1.3研究目的 3
1.4文獻回顧 3
1.4.1 切牙齦 3
1.4.2軟組織碰撞偵測 4
1.4.4軟組織形變 7
1.4.4網格切割 8
1.5研究方法 10
1.5.1硬體 10
1.5.2軟體 10
第二章 人工植牙簡介 12
2.1 傳統植牙 12
2.2 微創手術 14
2.3 各種新式植牙 15
第三章 軟組織形變 16
3.1 軟組織模型及Look-Up-Table之建立 17
3.2 碰撞偵測 19
3.2.1 Local Search演算法 19
3.2.2 Virtual Proxy演算法應用於軟組織 22
3.3 接觸力計算與軟組織形變 25
第四章 軟組織切割 30
4.1 Node Snapping演算法應用於產生切牙齦路徑 31
4.2 軟組織切口之建立 34
4.3 邊界切割 39
4.4 軟組織切割張力設定 42
4.5 翻牙瓣 43
第五章 研究結果 45
5.1 軟組織模擬中效率討論 45
5.2 本論文和現有論文的比較 47
5.2.1 切口真實性 47
5.2.2 重覆切割的效果 49
5. 3 虛擬軟組織模擬系統操作流程 50
第六章 結論與未來展望 54
6.1 結論 54
6.2 未來展望 54
第七章 參考文獻 56

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