A prototype percutaneous transhepatic cholangiography training simulator with real-time breathing motion
A prototype percutaneous transhepatic cholangiography training simulator with real-time breathing motion
复制标题
具有实时呼吸运动功能的原型经皮肝穿刺胆管造影训练模拟器
DOI：
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发表时间：
2009
影响因子：
3
通讯作者：
D. Gould
中科院分区：
文献类型：
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作者：
Pierre;F. Vidal;C. Hunt;F. Bello;N. John;S. Johnson;D. Gould
目的我们在此推出一款专注于经皮肝穿刺胆管造影 (PTC) 的介入放射学模拟器。该过程包括使用荧光镜检查引导将针插入胆管树。方法模拟器的要求是由任务分析驱动的。已确定三个主要组成部分：呼吸、实时 X 射线显示（透视）和触觉渲染（触觉）。呼吸运动建模框架基于运动学定律和 Chainmail 算法。荧光镜模拟在显卡上进行，并利用比尔-朗伯定律来计算 X 射线衰减。最后，触觉渲染被集成到虚拟环境中，并考虑到软组织反作用力反馈和插入过程中针初始方向的维持。结果使用患者特定数据创建了五个训练场景。其中每一个都为用户提供了可变的呼吸行为、可调谐到任何设备参数的荧光镜显示以及针力反馈。结论已使用详细的任务分析来设计和构建本文中描述的 PTC 模拟器。该模拟器包括具有两个独立参数（肋骨运动学和隔膜动作）的实时呼吸运动、在图形处理单元上实现的在线透视以及触觉反馈，以在针插入过程中感受器官的软组织行为。
PurposeWe present here a simulator for interventional radiology focusing on percutaneous transhepatic cholangiography (PTC). This procedure consists of inserting a needle into the biliary tree using fluoroscopy for guidance.MethodsThe requirements of the simulator have been driven by a task analysis. The three main components have been identified: the respiration, the real-time X-ray display (fluoroscopy) and the haptic rendering (sense of touch). The framework for modelling the respiratory motion is based on kinematics laws and on the Chainmail algorithm. The fluoroscopic simulation is performed on the graphic card and makes use of the Beer-Lambert law to compute the X-ray attenuation. Finally, the haptic rendering is integrated to the virtual environment and takes into account the soft-tissue reaction force feedback and maintenance of the initial direction of the needle during the insertion.ResultsFive training scenarios have been created using patient-specific data. Each of these provides the user with variable breathing behaviour, fluoroscopic display tuneable to any device parameters and needle force feedback.ConclusionsA detailed task analysis has been used to design and build the PTC simulator described in this paper. The simulator includes real-time respiratory motion with two independent parameters (rib kinematics and diaphragm action), on-line fluoroscopy implemented on the Graphics Processing Unit and haptic feedback to feel the soft-tissue behaviour of the organs during the needle insertion.