基于能量最小理论的新型导丝建模方法

Novel guidewire modeling method based on Energy minimum theory

在基于虚拟现实(virtual reality, VR)环境的主从式介入手术训练系统中建立高性能的导丝模型有利于提高整个训练过程的质量,提出一种新型导丝建模方法,使用两端为半球形的圆柱刚体作为导丝基本单元,在导丝插入目标血管分支的过程中,利用模型本身的几何特性并结合能量最小原理求解得到导丝形变参数,提高导丝的精度和灵活性。结合试验室已开发的介入手术训练平台手部操作器,此方法建立的导丝模型能够在VR训练系统中表现出良好的性能并与操作器保持同步,为受训者提供视觉反馈的同时,提高了VR训练的沉浸感和训练过程的可靠性。

A high-performance guidewire model was demanded in the VR(virtual reality, VR) training system for endovascular interventional surgery. A new guidewire modeling method was proposed. This method used a cylindrical rigid body with hemispherical ends as the basic unit of the guidewire and the geometric characteristics of the model itself combined the principle of minimum energy to obtain the guidewire deformation parameters when the guidewire was inserted into the target blood vessel branch, which improved the accuracy and flexibility of the guidewire. Combined with the developed guidewire manipulator, the established guidewire achieved good performance and keeped synchronization with it during the experiment, which helped novices to immerse in the training environment.