Robust and high-fidelity guidewire simulation with applications in percutaneous coronary intervention system
Robust and high-fidelity guidewire simulation with applications in percutaneous coronary intervention system
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DOI：
10.1145/2503713.2503743
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
Y. Mao;Fei Hou;Shuai Li;A. Hao;Mingjing Ai;Hong Qin
中科院分区：
文献类型：
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作者：
Y. Mao;Fei Hou;Shuai Li;A. Hao;Mingjing Ai;Hong Qin
基于物理的可变形物体的实时逼真仿真对于虚拟环境中的医疗干预、训练和规划具有重要价值。本文提倡采用虚拟现实（VR）方法进行微创手术/治疗（例如，经皮冠状动脉介入治疗）。特别是，我们设计了一个强大的和准确的基于物理的建模和仿真算法的导丝与血管的相互作用。我们还展示了一个基于VR的原型系统，用于模拟经皮冠状动脉介入治疗和模拟介入治疗，该系统提供了灵活的细长导丝，可将诊断或治疗导管推进到患者的血管解剖结构中，支持各种真实世界的交互任务。导丝的细长体采用著名的Cosserat弹性杆理论建模。我们推导出具有连续能量的导丝的运动方程，并将其与隐式欧拉求解器相结合，以保证鲁棒性和稳定性。我们方法的独创性主要建立在其与周围环境交互时的强大性、灵活性和多功能性之上，包括几何和物理混合、材料可变性、动态采样、约束处理和能量驱动的物理响应的新颖策略。实验结果表明，该原型系统具有稳定、高效、实时等特点。从长远来看，我们的算法和系统有望有助于交互式VR为基础的程序培训和治疗计划。
Real-time and realistic physics-based simulation of deformable objects is of great value to medical intervention, training, and planning in virtual environments. This paper advocates a virtual-reality (VR) approach to minimally-invasive surgery/therapy (e.g., percutaneous coronary intervention) in medical procedures. In particular, we devise a robust and accurate physics-based modeling and simulation algorithm for the guidewire interaction with blood vessels. We also showcase a VR-based prototype system for simulating percutaneous coronary intervention and mimicing the intervention therapy, which affords the utility of flexible, slender guidewires to advance diagnostic or therapeutic catheters into a patient's vascular anatomy, supporting various real-world interaction tasks. The slender body of guidewires are modeled using the famous Cosserat theory of elastic rods. We derive the equations of motion for guidewires with continuous energies and integrate them with the implicit Euler solver, that guarantees robustness and stability. Our approach's originality is primarily founded upon its power, flexibility, and versatility when interacting with the surrounding environment, including novel strategies in the hybrid of geometry and physics, material variability, dynamic sampling, constraint handling and energy-driven physical responses. Our experimental results have shown that this prototype system is both stable and efficient with real-time performance. In the long run, our algorithm and system are expected to contribute to interactive VR-based procedure training and treatment planning.