Robust and real-time guidewire simulation based on Kirchhoff elastic rod for vascular intervention training

被引：1

作者：

Luo M.-S. ^{[1
]}

Xie H.-Z. ^{[2
]}

Xie L. ^{[3
]}

Cai P. ^{[4
]}

Gu L.-X. ^{[1
]}

机构：

[1] School of Biomedical Engineering, Shanghai Jiaotong University, Shanghai

[2] Department of Cardiac Intervention, Beijing Union Medical College Hospital, Beijing

[3] Institute of Forming Technology & Equipment, Shanghai Jiaotong University, Shanghai

[4] School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai

来源：

Journal of Shanghai Jiaotong University (Science) | 2014年 / 19卷 / 05期

基金：

中国国家自然科学基金;

关键词：

guidewire and catheter; Kirchhoff elastic rod; physically based simulation; vascular intervention;

D O I：

10.1007/s12204-014-1551-1

中图分类号：

学科分类号：

摘要：

Virtual reality (VR) based vascular intervention training is a fascinating innovation, which helps trainees develop skills in safety remote from patients. The vascular intervention training involves the use of flexible tipped guidewires to advance diagnostic or therapeutic catheters into a patient’s vascular anatomy. In this paper, a real-time physically-based modeling approach is proposed to simulate complicated behaviors of guidewires and catheters based on Kirchhoff elastic rod. The slender body of guidewire and catheter is simulated using more efficient special case of naturally straight, isotropic Kirchhoff rods, and the short flexible tip composed of straight or angled design is modeled using more complex generalized Kirchhoff rods. We derive the equations of motion for guidewire and catheter with continuous elastic energy, and then they were discretized using a linear implicit scheme that guarantees stability and robustness. In addition, we apply a fast-projection method to enforce the inextensibility of guidewire and catheter, while an adaptive sampling algorithm is implemented to improve the simulation efficiency without reducing accuracy. Experimental results reveal that our guidewire simulation method is both robust and efficient in a real-time performance. © 2014, Shanghai Jiaotong University and Springer-Verlag Berlin Heidelberg.

引用

页码：624 / 629

页数：5

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