Robust and Real-Time Guidewire Simulation Based on Kirchhoff Elastic Rod for Vascular Intervention Training

doi:10.1007/s12204-014-1551-1

上海交通大学学报（英文版） ›› 2014, Vol. 19 ›› Issue (5): 624-629.doi: 10.1007/s12204-014-1551-1

Robust and Real-Time Guidewire Simulation Based on Kirchhoff Elastic Rod for Vascular Intervention Training

LUO Mai-sheng1 (罗买生), XIE Hong-zhi2 (谢洪智), XIE Le3 (谢叻),CAI Ping4 (蔡萍), GU Li-xu1* (顾力栩)

(1. School of Biomedical Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 2. Department of Cardiac Intervention, Beijing Union Medical College Hospital, Beijing 100110, China; 3. Institute of Forming Technology & Equipment, Shanghai Jiaotong University, Shanghai 200240, China; 4. School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

出版日期:2014-10-31 发布日期:2014-11-12
通讯作者: GU Li-xu (顾力栩) E-mail: gulixu@sjtu.edu.cn

Robust and Real-Time Guidewire Simulation Based on Kirchhoff Elastic Rod for Vascular Intervention Training

LUO Mai-sheng1 (罗买生), XIE Hong-zhi2 (谢洪智), XIE Le3 (谢叻),CAI Ping4 (蔡萍), GU Li-xu1* (顾力栩)

(1. School of Biomedical Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 2. Department of Cardiac Intervention, Beijing Union Medical College Hospital, Beijing 100110, China; 3. Institute of Forming Technology & Equipment, Shanghai Jiaotong University, Shanghai 200240, China; 4. School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

Online:2014-10-31 Published:2014-11-12
Contact: GU Li-xu (顾力栩) E-mail: gulixu@sjtu.edu.cn

摘要/Abstract

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.

关键词: vascular intervention, Kirchhoff elastic rod, physically based simulation, guidewire and catheter

Abstract: 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.

Key words: vascular intervention, Kirchhoff elastic rod, physically based simulation, guidewire and catheter

中图分类号:

R 318.01

LUO Mai-sheng1 (罗买生), XIE Hong-zhi2 (谢洪智), XIE Le3 (谢叻),CAI Ping4 (蔡萍), GU Li-xu. Robust and Real-Time Guidewire Simulation Based on Kirchhoff Elastic Rod for Vascular Intervention Training[J]. 上海交通大学学报（英文版）, 2014, 19(5): 624-629.

LUO Mai-sheng1 (罗买生), XIE Hong-zhi2 (谢洪智), XIE Le3 (谢叻),CAI Ping4 (蔡萍), GU Li-xu1* (顾力栩). Robust and Real-Time Guidewire Simulation Based on Kirchhoff Elastic Rod for Vascular Intervention Training[J]. Journal of shanghai Jiaotong University (Science), 2014, 19(5): 624-629.

参考文献

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Robust and Real-Time Guidewire Simulation Based on Kirchhoff Elastic Rod for Vascular Intervention Training

Robust and Real-Time Guidewire Simulation Based on Kirchhoff Elastic Rod for Vascular Intervention Training

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