Real-Time 3D Tool Deformation Tracking in Virtual Organ Models
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Solution Overview
Problem
Current training systems for invasive percutaneous and endoscopic interventions lack efficient training capabilities and fail to accurately simulate collisions between tools and organ structures, leading to low success rates and imperfect visualization of target tissues during procedures.
Innovation Solution
A system that uses real-time 3D modeling and stereoscopic cameras to track the tool's position and deformation within a virtual organ model, accounting for collisions and providing a computationally efficient framework for realistic simulations, allowing for immersive training and improved procedural planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If real-time 3D modeling and collision simulation are implemented, then training accuracy and realism are improved, but computational complexity and system resources required increase
Solution Approach 1:
The patent creates a virtual 3D copy of the organ and tool interactions instead of using physical models. The virtual environment replicates the physical procedure with computational models, allowing repeated simulations without material constraints. This copying approach enables high training accuracy through realistic virtual collision simulation while avoiding the complexity of physical apparatus maintenance and material limitations.
Solution Approach 2:
The patent replaces physical mechanical simulation systems with computational modeling. Instead of using physical sensors and actuators to simulate tool-organ interactions, the system uses virtual 3D models with collision detection algorithms. This substitution reduces hardware complexity while maintaining or improving training accuracy through more precise virtual physics simulation.
2Reliability
If comprehensive collision simulation is added to the training system, then training realism is improved, but processing time and computational resources increase
Solution Approach 1:
The patent performs collision detection and simulation in advance during the training phase, allowing trainees to practice and refine their skills before actual procedures. The system pre-computes virtual outcomes of tool movements against the 3D organ model, providing immediate feedback on potential complications. This preliminary simulation approach improves training realism while the computational intensity is concentrated during training rather than during actual procedures.
Solution Approach 2:
The patent implements dynamic 3D modeling that adapts to real-time tool movements and collision conditions. The virtual environment dynamically adjusts the organ model response based on simulated forces and material properties. This dynamic simulation provides highly realistic training scenarios where trainees experience realistic tissue deformation and collision feedback, with processing time managed through optimized real-time rendering techniques.
3Manufacturing precision
If virtual 3D modeling with collision detection is implemented, then procedural planning accuracy is improved, but device complexity and setup requirements increase
Solution Approach 1:
The patent creates a universal virtual training platform that can simulate multiple organ types, tool configurations, and procedural variations within a single system framework. The 3D modeling engine and collision detection algorithms are designed to handle diverse surgical scenarios through parameter adjustment rather than requiring separate specialized systems for each procedure type. This multi-functionality improves procedural planning accuracy across different interventions while reducing overall setup complexity through standardized virtual environment configuration.
Data Source
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AI summary
System (100) for training an interventionalist to perform an invasive percutaneous intervention or an endoscopic intervention on an organ (10), by using a tool (20) in this organ (10), wherein a merging unit is arranged for merging in real-time in a common environment a real-time 3D model (26") of an end portion of a tool and a pre-computed 3D model (10') of at least a portion of the organ. A display shows to the interventionalist said common environment, so that the interventionalist can see in real-time on the display where the real-time 3D model (26") of this end portion of the tool (20) is located with respect to the pre-computed 3D model (10') of the portion of the organ, thus making the training of the interventionalist possible. According to the invention, the system comprises a real-time re-computing position unit, arranged to receive a first set of coordinates of 3D points that define the 3D position of a tool's centreline (CL), with regard to the output of a pipe (30), based on an image, and to output second set of coordinates of 3D points that defines the 3D position of the tool's centreline, with regard to the output of said pipe, wherein the second set of coordinates is different from the first set of coordinates if there is a collision between the real-time 3D model (26") of the tool with an inner wall of the 3D model (10') of the portion of the organ. Advantageously, the second set of coordinates describes a deformation of the real-time 3D model (26") of the tool after this collision, the second set of coordinates belonging to a space defined by the 3D model of the portion of the organ.