本研究針對外科手術中常進行的骨骼鑽孔操作，開發一套具力回饋操控的模擬系統，用以模擬手術中骨骼鑽孔過程，利用可視化的虛擬骨骼與鑽孔器產生互動，即時提供操控者如臨實際鑽孔的感受。
模擬系統開發前，首先進行骨骼鑽孔的實驗設計與實作，藉由量測在不同密度的骨塊上鑽孔所需的推力大小所得的量化數據，推導骨密度與鑽孔推力的關係式，建立鑽孔推力的物理模型，最後配合骨密度與電腦斷層影像資訊的關連性，提出利用CT係數產生模擬力量回饋的演算方法。再以虛擬實境的技術整合力回饋裝置建構可控制的互動式鑽孔模擬介面，以骨骼的電腦斷層影像為原始資訊，應用推導之影像力模型，展現虛擬器具與骨骼互動碰撞時的力量彩現。如此，系統於模擬鑽孔訓練時可適時提供使用者具視覺與力覺的體驗。

In this research, the author devoted to develop a haptic simulation system for bone drilling manipulation using in surgical training. The system can be used to emulate bone drilling operation by way of interaction with digital bone and drill in 3D, to provide a realistic thrust force feeling for the users.
The experimental design and implementation are executed preliminarily before system development. The relationship between bone density and thrust force can be determined via the measuring data obtained from several specific artificial bone blocks drilling. The force model is built by the mathematical relationship between experimental bone drilling and the CT Image. In order to fulfill a controllable and interactive bone drilling simulation system, we integrate the haptic device into the virtual bone drilling world. Base on the pre-given CT images, we then apply the derived force model to generate digital force by haptic device. Moreover, haptic rendering is conducted if collision occurs between the virtual drill and bones. Hence, the simulation system can definitely provide the user both visual and physical force experience simultaneously while conducting bone drilling training.

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