Master-slave guide wire control method

Abstract

The invention relates to a master-slave guide wire control method. The method is master-slave guide wire control based on virtual reality haptic rendering. Force touch representation is carried out atthe main hand end through force touch rendering; an operator controls a slave hand end guide wire to move through force touch information, and the force touch rendering model is a guide wire-vascularwall efficient contact detection algorithm based on any Lagrange Euler (ALE), which adopts one-dimensional arc length coordinates to determine the position of a contact detection point in any Lagrange Euler (ALE) guide wire unit. According to the method, the one-dimensional arc length coordinates are used for replacing three-dimensional Cartesian coordinates in the prior art to determine the position of the contact detection point in the ALE guide wire unit, the contact detection process between the guide wire and the blood vessel wall is simplified, and the collision detection efficiency isimproved on the premise that the precision is not changed.

Description

technical field [0001] The invention belongs to the technical field of master-slave guide wire control, and relates to a master-slave guide wire control method, in particular to a master-slave guide wire used for virtual reality minimally invasive vascular interventional surgery guide wire and multi-point dynamic line contact with blood vessels Control Method. Background technique [0002] Minimally invasive cardiovascular interventional procedures such as figure 1 As shown, it is widely used for its advantages of reducing postoperative pain, shortening recovery time, and less trauma. Among them, the guide wire, as a key interventional device, must go deep into the narrowed or blocked coronary artery wall. The remote operation medical robot system assists doctors to perform surgery on remote patients locally, so that patients in remote areas or disaster areas such as Xinjiang can receive timely diagnosis and treatment, while effectively reducing the cost and time of surgery...

AI Technical Summary

Problems solved by technology

For the similar problem of guidewire-vascular wall contact, the Lagrange method is used to describe the dynamics of the guidewire, and its discrete grid must be dense enough (the size of the grid must be much smaller than the length of the vessel) to ensure the contact between the vessel wall and the guidewire. The contact detection of is accurate, so the degree o

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