Real-Time Tool–Organ Collision Simulation for Interventional Training
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Solution Overview
Problem
Current training systems for invasive percutaneous and endoscopic interventions lack efficient methods to simulate tool collisions with virtual organ models, are computationally expensive, and do not allow for realistic real-time simulations, leading to low success rates in actual procedures due to inadequate visualization and planning.
Innovation Solution
A system that includes a pipe simulating a body vessel, stereoscopic cameras, a real-time 3D model generating unit, and a re-computing position unit to account for collisions between the tool's 3D model and the organ's model, using tool tracking and elasticity simulation to ensure realistic and efficient training.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If collision simulation between tool 3D model and organ 3D model is implemented, then training realism is improved, but computational cost increases
Solution Approach 1:
The system segments the tool into multiple rigid body parts connected by joints, allowing collision detection to be performed on individual segments rather than the entire tool as a single complex object. This reduces computational complexity while maintaining training realism.
Solution Approach 2:
The patent replaces complex continuous physics simulation with a discrete rigid-body dynamics model. By using pre-defined rigid body segments and simplified collision detection algorithms instead of full finite element analysis, the system achieves realistic collision effects with reduced computational cost.
2Manufacturing precision
If real-time collision detection and response is implemented, then simulation accuracy is improved, but processing speed decreases
Solution Approach 1:
The system performs preliminary setup by pre-defining the rigid body segments, their inertial properties, and collision boundaries before the simulation begins. This pre-processing allows the real-time simulation to use simplified collision detection algorithms that maintain accuracy while ensuring fast processing speeds.
Solution Approach 2:
The patent implements a dynamic simulation model where the tool is represented as a chain of rigid bodies connected by rotational joints. This allows real-time computation of collision responses by updating only the affected segments rather than re-calculating the entire system, maintaining both accuracy and speed.
3Manufacturing precision
If flexible tool deformation is simulated, then procedural accuracy is improved, but computational complexity increases
Solution Approach 1:
The flexible tool is segmented into multiple rigid body parts connected by rotational joints. This segmentation allows the system to simulate flexibility through sequential rigid body transformations rather than requiring complex continuous deformation models, reducing computational complexity while maintaining procedural accuracy.
Solution Approach 2:
The patent changes the simulation approach from continuous material deformation to discrete rigid body kinematics. By parameterizing the tool as a chain of segments with rotational degrees of freedom, the system achieves flexible behavior simulation with simpler computational models.
Data Source
AI summary
System for training an interventionalist to perform an invasive percutaneous intervention or an endoscopic intervention on an organ, by using a tool in this organ, where a merging unit is arranged for merging in real-time in a common environment a real-time 3D model of an end portion of a tool and a pre-computed 3D model of at least a portion of the organ. A display shows to the interventionalist the common environment, so that the interventionalist can see in real-time on the display where the real-time 3D model of this end portion of the tool is located with respect to the pre-computed 3D model of the portion of the organ, thus making the training of the interventionalist possible.