Operation simulation method and system of vascular interventional operation robot

Abstract

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.

Description

technical field [0001] The present invention relates to a virtual surgery simulation method, in particular to a surgical simulation method and system for a vascular interventional surgery robot. Background technique [0002] In recent years, interventional minimally invasive surgery has developed rapidly, and has the advantages of precision, speed, and less trauma, which provides great help to the treatment of cardiovascular diseases. However, interventional surgery puts forward high requirements on doctors' operational skills, professional knowledge and surgical experience, especially now that medical resources are unevenly distributed, and doctors in many areas do not have enough ability to perform vascular interventional surgery due to limited conditions. Most doctors are trained to perform surgery through animals or cadavers, but this does not simulate the real surgical environment in a realistic and low-cost way, so as to benefit doctors. [0003] Moreover, cardiovascu...

AI Technical Summary

Problems solved by technology

[0009] Judging from the existing simulation schemes for interventional vascular surgery, many schemes can only realize the modeling of blood vessels, the modeling of guide wires, the modeling of instruments, or the interaction between blood vessels and the environment, but none of them can realize the simulation of interventional surgery. Comprehensive, accurate, personalized and real-time simulation solution for vascular surgery process

Images