Real-time motion simulation method for guide wire in minimally invasive vessel interventional operation

A technology for interventional surgery and motion simulation, applied in the field of virtual surgery simulation, can solve the problems of poor authenticity and stability, high computational cost, and achieve the effect of achieving non-stretchability, improving stability and accuracy, and improving efficiency.

Active Publication Date: 2013-03-13
SHANGHAI JIAO TONG UNIV
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  • Claims
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AI Technical Summary

Problems solved by technology

The penalty method has poor authenticity and stability, while the constraint method requires multiple iterations to ensure that the guide wire does not puncture the vessel wall, which is computationally expensive

Method used

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  • Real-time motion simulation method for guide wire in minimally invasive vessel interventional operation
  • Real-time motion simulation method for guide wire in minimally invasive vessel interventional operation
  • Real-time motion simulation method for guide wire in minimally invasive vessel interventional operation

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Embodiment

[0049] This embodiment has a Pentium (R) Dual-Core CPU, an NVIDIA GeForce GT

[0050] 240 and 2G memory personal computer, the entire virtual surgery training system is written in C++ language, and the interface is written in QT. The third-party libraries used by the system in the process of realization include OpenGL, Boost and CGAL.

[0051] The implementation process of this embodiment is as follows figure 1 As shown, a real-time motion simulation method of a guide wire in a minimally invasive vascular interventional operation includes the following steps:

[0052] In the first step, the vessel is modeled using a triangular surface mesh. The vascular triangular surface mesh firstly divides the vascular data file in STL format from human CT data, then uses Netgen to generate a triangular surface mesh, and finally performs smoothing on the triangular surface mesh to generate a triangular surface usable by the final system grid.

[0053] In the second step, the guide wire ...

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Abstract

The invention relates to a real-time motion simulation method for a guide wire in a minimally invasive vessel interventional operation. The real-time motion simulation method comprises the following steps: (1) adopting a triangular surface mesh to perform modeling of a vessel; (2) adopting a Kirchhoff elastic rod model to perform modeling of the guide wire, and utilizing a Lagrange equation to calculate deformation force of the guide wire in the simulation process; (3) rendering the guide wire; (4) adopting a K-DOPS tree to perform collision detection between the guide wire and the vessel; (5) adopting a non-iterative restraint method to calculate contact force between the guide wire and the vessel and performing collision response; (6) using a Verlet integral formula to perform iteration update on position and speed of the guide wire; (7) utilizing Lagrange's multiplier and a fast projection method to achieve non-telescopic characteristics of the guide wire; and (8) using a force feedback device Phantom Omni to render acting force of the guide wire on a user. Compared with the prior art, the real-time motion simulation method has the advantages of being stable and reliable, convenient to achieve, real, efficient and high in engineering applicability and the like.

Description

technical field [0001] The invention relates to a virtual surgery simulation method, in particular to a real-time motion simulation method of a guide wire in minimally invasive vascular interventional surgery. Background technique [0002] With the rapid development of science and technology, the application of virtual surgery provides more and more help for the modernization of medical treatment. The virtual minimally invasive vascular interventional surgery system can help interns quickly improve their surgical skills, allowing more patients with cardiovascular and cerebrovascular diseases to undergo minimally invasive interventional treatment. As an indispensable part of the minimally invasive vascular interventional surgery system, the real-time motion simulation of the guide wire has become a research topic of many scholars. In the research process of real-time motion simulation of the guide wire, some early scholars used geometric models to model the guide wire. This ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T13/20G09B19/00
Inventor 顾力栩罗买生
Owner SHANGHAI JIAO TONG UNIV
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