Numerical Feedback for Endovascular Surgery Simulation

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For quantification of the interaction of catheter tip and blood vessel wall, methods for high accuracy photoelastic stress analysis and three-dimensional visualization of stress fields were developed. As well as pumps for blood pressure simulation, enabling to visualize and measure the stress it produces on blood vessel walls. A bi-planar vision system was constructed for analyzing on real time the catheter trajectory in terms of its tip position, stress on the blood vessel wall and blood vessel morphology changes. This enabled to construct reference trajectories for evaluation while the catheter is driven by hand or with a robotic system.