随着虚拟现实技术的发展，兼具视力觉反馈的医学模拟训练系统在微创外科教学与技能培训中日益受到重视。在需要对软组织或器官进行精细操作的腹腔镜手术中，真实模拟器械与组织对象的交互过程对提升学员手术技能至关重要。然而，软组织非线性力学行为的复杂性使得在视觉与力觉通道上准确复现组织-器械的交互面临诸多困难，这仍是虚拟手术领域的技术挑战。为了提高虚拟软组织力觉呈现的感知逼真度，缩小虚拟训练环境与真实环境之间的感知差异，本文提出一种基于心理物理学优化的力觉渲染方法，以实现高保真软组织交互模拟。该方法采用基于扩展位置动力学算法实现软组织实时形变计算，同时引入开尔文-玻尔兹曼模型精确描述手术器械与软组织间的粘弹性力学响应；通过建立虚拟与真实环境中感知力的心理物理学映射关系，对力觉输出进行优化，从而提升软组织交互的真实感。感知准确性测试与用户体验量化评估实验结果表明，该方法显著降低了虚拟与实体交互间的感知差异，有效增强了交互过程中的逼真度。

With the development of virtual reality technology, medical simulation training systems with visual-haptic feedback have gained widespread attention in minimally invasive surgical education and skill training. In laparoscopic procedures, which require precise manipulation of soft tissues, the realistic simulation of interaction process with tissue objects is essential for improving trainees’ surgical skills.  However, the complexity of the nonlinear mechanical behavior of soft tissues makes it difficult to accurately replicate tissue-instrument interactions via both visual and haptic channels. This remains a technical challenge in virtual surgical simulation. To reduce the perceptual discrepancy between virtual training and real environments, this work proposes a psychophysically optimized haptic rendering approach for high-fidelity soft-tissue interaction. In this approach, the real-time deformation of soft tissues is achieved using the Extended Position-Based Dynamics (XPBD) algorithm, while the Kelvin Boltzmann (KB) model is employed to accurately describe viscoelastic mechanical responses between surgical instruments and soft tissues. Additionally, a psychophysical approach is employed to map the relationship between perceived haptic forces in virtual and physical environments. This mapping serves to optimize haptic output, thereby enhancing realism during soft-tissue interactions. Perceptual accuracy test and user experience evaluations were conducted, and the results demonstrated a significant reduction in perceptual inconsistency between virtual and physical interactions, thereby enhancing haptic fidelity in the interaction.