The invention provides an operation
simulation method and
system for a vascular interventional operation
robot. The method comprises the steps: modeling a guide wire, and completing
simulation of movement of the guide wire in a
human blood vessel and interaction with the environment; importing a CTA medical image of the
blood vessel into a computer, and performing personalized modeling on the
blood vessel; planning a path of a medical instrument in the
blood vessel according to clinical experience and a three-dimensional blood vessel model, and selecting an optimal path; performing
collision detection on mechanical arms of the
robot, and determining an online adaptive model according to the
robot mechanical arm
collision detection; completing clamping, pushing and rotating of a
catheter and the guide wire at the front end and action
decomposition of composite motion of the robot; and simulating operation of the robot in the three-dimensional blood vessel model by using the guide wire model, and meanwhile, monitoring the motion state and
visual motion data of the mechanical arms in real time through a display screen during the operation of the robot. According to the invention, eachlink of the vascular interventional operation of the
medical robot is comprehensively simulated, and the interaction of the guide wire in the blood vessel of the
human body is simulated.