A master-slave guide wire control method

Abstract

The invention relates to a master-slave guide wire control method, which is a master-slave guide wire control based on virtual reality force tactile rendering. wire motion, wherein the force-tactile rendering model is an arbitrary Lagrangian-Eulerian (ALE)-based guidance based on determining the position of a contact detection point in an arbitrary Lagrangian-Eulerian (ALE) wire-guide unit using one-dimensional arc length coordinates. Silk-Vascular Wall Efficient Contact Detection Algorithm. The invention uses one-dimensional arc length coordinates to replace the three-dimensional Cartesian coordinates of the prior art to determine the position of the contact detection point in the ALE guide wire unit, simplifies the contact detection process between the guide wire and the blood vessel wall, and under the premise of ensuring the same accuracy, Improved collision detection efficiency.

Description

technical field [0001] The invention belongs to the technical field of master-slave guide wire control, relates to a master-slave guide wire control method, and in particular relates to a master-slave guide wire used for virtual reality minimally invasive vascular interventional surgery guide wire and multi-point dynamic line contact of blood vessels Control Method. Background technique [0002] Minimally invasive cardiovascular interventions such as figure 1 As shown, it is widely used for its advantages of reducing postoperative pain, shortening recovery time, and less trauma. As a key interventional device, the guide wire should penetrate deep into the stenosis or obstruction of the coronary artery wall of the heart. The teleoperated medical robot system assists doctors to perform operations on long-distance 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...

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 of freedom of the whole system is more, and the computational efficiency is lower

[0008] (2) Lack of simulation method for efficient detection of multi-point moving line contact between guide wire and vessel wall

The problem is that adjacent bounding boxes overlap each other, so sometimes it is difficult to determine which bounding box the detection point is located in

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