用有限元法模拟激光手术热效应，提升机器人手术仿真真实性
Towards a Physics Engine to Simulate Robotic Laser Surgery: Finite Element Modeling of Thermal Laser-Tissue Interactions
- 基于有限元法建模组织热传导过程，支持对流等复杂现象
- 实验验证显示平均误差低于2℃，结果高度可靠
- 适合需要高精度激光手术仿真的研究与临床培训
本文提出一种基于有限元法（FEM）的计算模型，用于模拟激光照射组织时的热响应。该模型填补了现有手术机器人仿真系统普遍缺乏激光等能量器械支持的空白。通过求解带有合适边界条件的热传导问题，模型可准确捕捉组织热动态，包括对流等关键物理现象。模型准确性通过使用明胶组织模型和离体鸡肌肉的桌面激光-组织相互作用实验进行验证，结果显示在多数实验条件下平均均方根误差（RMSE）低于2摄氏度。
原文摘要 · Abstract (English)
This paper presents a computational model, based on the Finite Element Method (FEM), that simulates the thermal response of laser-irradiated tissue. This model addresses a gap in the current ecosystem of surgical robot simulators, which generally lack support for lasers and other energy-based end effectors. In the proposed model, the thermal dynamics of the tissue are calculated as the solution to a heat conduction problem with appropriate boundary conditions. The FEM formulation allows the model to capture complex phenomena, such as convection, which is crucial for creating realistic simulations. The accuracy of the model was verified via benchtop laser-tissue interaction experiments using agar tissue phantoms and ex-vivo chicken muscle. The results revealed an average root-mean-square error (RMSE) of less than 2 degrees Celsius across most experimental conditions.
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