Robust and high-fidelity guidewire simulation with applications in percutaneous coronary intervention system

Y. Mao, Fei Hou, Shuai Li, A. Hao, Mingjing Ai, Hong Qin
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引用次数: 7

Abstract

Real-time and realistic physics-based simulation of deformable objects is of great value to medical intervention, training, and planning in virtual environments. This paper advocates a virtual-reality (VR) approach to minimally-invasive surgery/therapy (e.g., percutaneous coronary intervention) in medical procedures. In particular, we devise a robust and accurate physics-based modeling and simulation algorithm for the guidewire interaction with blood vessels. We also showcase a VR-based prototype system for simulating percutaneous coronary intervention and mimicing the intervention therapy, which affords the utility of flexible, slender guidewires to advance diagnostic or therapeutic catheters into a patient's vascular anatomy, supporting various real-world interaction tasks. The slender body of guidewires are modeled using the famous Cosserat theory of elastic rods. We derive the equations of motion for guidewires with continuous energies and integrate them with the implicit Euler solver, that guarantees robustness and stability. Our approach's originality is primarily founded upon its power, flexibility, and versatility when interacting with the surrounding environment, including novel strategies in the hybrid of geometry and physics, material variability, dynamic sampling, constraint handling and energy-driven physical responses. Our experimental results have shown that this prototype system is both stable and efficient with real-time performance. In the long run, our algorithm and system are expected to contribute to interactive VR-based procedure training and treatment planning.
鲁棒高保真导丝模拟在经皮冠状动脉介入治疗系统中的应用
可变形物体的实时、真实的物理模拟对虚拟环境中的医疗干预、训练和规划具有重要价值。本文提倡在医疗过程中采用虚拟现实(VR)方法进行微创手术/治疗(例如经皮冠状动脉介入治疗)。特别是,我们设计了一种鲁棒和精确的基于物理的导丝与血管相互作用的建模和仿真算法。我们还展示了一个基于vr的原型系统,用于模拟经皮冠状动脉介入治疗和模拟介入治疗,该系统提供了灵活、细长的导丝,可以将诊断或治疗导管推进到患者的血管解剖中,支持各种现实世界的交互任务。采用著名的Cosserat弹性杆理论对导丝的细长体进行了建模。导出了具有连续能量导丝的运动方程,并将其与隐式欧拉解进行积分,保证了导丝的鲁棒性和稳定性。我们的方法的独创性主要建立在其与周围环境交互时的强大,灵活性和多功能性上,包括几何和物理混合的新策略,材料可变性,动态采样,约束处理和能量驱动的物理响应。实验结果表明,该原型系统稳定高效,实时性好。从长远来看,我们的算法和系统有望为基于虚拟现实的交互式手术培训和治疗计划做出贡献。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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