基于非线性力反馈的血管介入手术训练系统
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摘要
血管介入手术训练系统是利用虚拟现实技术帮助医生学员快速、高效、低成本地掌握血管介入手术技能的训练系统。由于国外商业产品存在较高技术壁垒且我国对本课题的研究起步较晚,导致系统存在血管形变仿真缺失、力反馈计算方法简单等诸多不足。针对这些问题研发了一套血管介入手术虚拟训练系统,实现了系统的血管与导丝柔性形变、血管碰撞检测、力反馈计算与导丝运动控制等功能。分别基于张量有限元和杆单元有限元构建了血管和导丝的物理模拟模型;研究了血管与导丝模型的碰撞检测方法;通过导丝前端碰撞模型与血管壁碰撞模型间的接触面积构造非线性力学方程,提出了非线性力反馈计算方法。实验结果表明,系统中血管张量有限元物理模型具有良好的柔性形变效果,为系统提供了较好的视觉反馈信息;非线性力反馈计算方法更好的模拟了导丝与血管间作用力的特性;系统实现了手术训练功能,并具有良好的实时性。
The interventional vascular surgery virtual training system is designed for improving doctors' skills quickly, efficiently and cost-effectively by using virtual reality technology. Researches on this topic in China started later than other developed countries and are still in the R&D stage of the prototype. Productization and commercialization hasn't been realized. Based on this, a virtual training system is developed for vascular intervention based on nonlinear force feedback method. The physical simulation models for blood vessels and guidewires are constructed based on finite element model of tensor and rod element, respectively. The collision detection method for blood vessels and guide wires is studied. Using the collision area between the leading end of the guide wire and the blood vessel wall, a nonlinear mechanical equation is constructed and a nonlinear force feedback calculation method is proposed. Then, the main functional modules such as collision detection, flexible deformation and force feedback calculation of the virtual system for vascular interventions are realized. The developed interventional vascular surgery training system was evaluated and experimental results show that the system is of real-time response and fidelity.
The interventional vascular surgery virtual training system is designed for improving doctors' skills quickly, efficiently and cost-effectively by using virtual reality technology. Researches on this topic in China started later than other developed countries and are still in the R&D stage of the prototype. Productization and commercialization hasn't been realized. Based on this, a virtual training system is developed for vascular intervention based on nonlinear force feedback method. The physical simulation models for blood vessels and guidewires are constructed based on finite element model of tensor and rod element, respectively. The collision detection method for blood vessels and guide wires is studied. Using the collision area between the leading end of the guide wire and the blood vessel wall, a nonlinear mechanical equation is constructed and a nonlinear force feedback calculation method is proposed. Then, the main functional modules such as collision detection, flexible deformation and force feedback calculation of the virtual system for vascular interventions are realized. The developed interventional vascular surgery training system was evaluated and experimental results show that the system is of real-time response and fidelity.
引文
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[14] Guo J, Gao Y, Guo S, et al. Kinematics analysis of the catheter for a novel VR robotic catheter system[C]// IEEE International Conference on Mechatronics and Automation.Tianjin, China:IEEE,2014:1034—1039.
[15] Wu J, Wang H, Zhang P, et al. A preliminary Real-Time and realistic simulation environment for percutaneous coronary intervention[J]. Biomed Research International,2015.
[16] Wu J, Wang H, Zhang P, et al. A Computer-Based simulator for percutaneous coronary intervention[J]. International Journal of Life Sciences Biotechnology and Pharma Research,2015,4(2):113.
[17] Ye X, Zhang J, Li P, et al. A fast and stable vascular deformation scheme for interventional surgery training system[J]. Biomedical Engineering Online,2016,15(1):35.
[18] Chen G C, Lin C H, Li C M, et al. Virtual-reality simulator system for double interventional cardiac catheterization using haptic force producer with visual feedback[J]. Computers & Electrical Engineering,2016,53(C):230—243.
[19] 谢叻, 神祥龙, 吴朝丽, 等. 具有力反馈的心血管介入虚拟手术模拟器的研发[J]. 江西师范大学学报:自然科学版,2017,41(4):331—337.Xie Le, Shen Xianglong, Wu Zhaoli, et al. The simulator development of cardiovascular interventional virtual surgery with force feedback[J]. Journal of jiangxi normal university:natural science edition,2017,41(4):331—337.
[20] Cai J, Xie H, Zhang S, et al. Pilot study on vascular intervention training based on blood flow effected guidewire simulation[C]// Engineering in Medicine and Biology Society (EMBC), 2017 39th Annual International Conference of the IEEE.Jeju Island,South Korea:IEEE,2017:3381—3384.
[21] Cai J, Xie H, Zhang S, et al. Blood flow-induced physically based guidewire simulation for vascular intervention training[J]. International Journal of Computer Assisted Radiology & Surgery,2017,12(9):1—13.
[2] 颜红兵, 马长生, 霍勇. 临床冠心病诊断与治疗指南[M]. 人民卫生出版社,2010.Yan Hongbing, Ma Changsheng, Huo Yong. Clinical coronary heart disease diagnosis and treatment guidelines [M]. People’s Medical Publishing House,2010.
[3] Higgeins G A, Meglan D, Millman A S, et al. Virtual reality surgery: implementation of a coronary angioplasty training simulator[J]. Cardiovascular Surgery, Surgical Technology International,1999,4:379—383.
[4] Patel A D, Riddick J A, Cates C U. Abstract 1966: Initial face and content validation for carotid artery stenting using the procedicus vascular interventional system trainer (VISTTM) virtual reality simulator[J]. Circulation, 2006,2(18):II(393).
[5] Irie K, Nakai Y, Nakahara I, et al. Assessing endovascular skills using the vascular interventional simulation trainer (VIST) for testing and rating coil embolization of cerebral aneurysm[J]. J Neuroendovasc Ther,2012,6(4):252—257.
[6] Xia M, Bin C, Gang Z, et al. Analysis of affective characteristics and evaluation of harmonious feeling of image based on 1/f fluctuation theory[C]//International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems. Springer,Berlin,Heidelberg:Springer,2002:780—789.
[7] Rai S P V, Pai M K, Sekhar M, et al. Evolution from invasive arterial puncture to a venous access for cerebral angiography:“Cath Lab to CT suite”[J].Indian Journal of Neurosurgery Vol,2014,3(2):98.
[8] Xin M, Lei Z, Volkau I, et al. A virtual reality simulator for remote interventional radiology: Concept and prototype design[J]. IEEE transactions on biomedical engineering,2006,53(8):1696—1700.
[9] 马炘, 吴剑煌, 王树国, 等. 脑血管介入手术仿真训练系统研究[J]. 透析与人工器官,2010,21(3):25—31.Ma Xin, Wu Jianhuang, Wang Shuguo, et al. Simulation Training System for Cerebrovascular Interventional Surgery [J]. Dialysis and artificial organs,2010,21(3):25—31.
[10] 陈拓汉, 宋爱国. 基于力/触觉反馈的虚拟血管介入手术系统[J]. 南京信息工程大学学报;自然科学版,2011,03(5):414—418.Chen Tuohan, Song Aiguo. Virtual system of hemal intervening operation based on haptic feedback [J]. Journal of nanjing university of information engineering:natural science edition,2011,03(5):414—418.
[11] 谭珂, 潘新华, 熊岳山, 等. 冠心病介入治疗虚拟仿真系统关键技术[J]. 国防科技大学学报,2012,34(1):160—164.Tan Ke, Pan Xinhua, Xiong Yueshan, et al. Key techniques for percutaneous coronary intervention virtual simulation system about coronary heart disease [J]. Journal of national university of defense technology,2012,34(1):160—164.
[12] Mi S H, Hou Z G, Yang F, et al. 3D interactive virtual environments for minimally invasive vascular surgery[C]// IEEE International Conference on Information and Automation.Colombo,Sri Lanka:IEEE,2014:846—851.
[13] Mi S H, Hou Z G, Yang F, et al. A 3D virtual reality simulator for training of minimally invasive surgery[C]// Engineering in Medicine and Biology Society.Chicago,USA:IEEE,2014:349—352.
[14] Guo J, Gao Y, Guo S, et al. Kinematics analysis of the catheter for a novel VR robotic catheter system[C]// IEEE International Conference on Mechatronics and Automation.Tianjin, China:IEEE,2014:1034—1039.
[15] Wu J, Wang H, Zhang P, et al. A preliminary Real-Time and realistic simulation environment for percutaneous coronary intervention[J]. Biomed Research International,2015.
[16] Wu J, Wang H, Zhang P, et al. A Computer-Based simulator for percutaneous coronary intervention[J]. International Journal of Life Sciences Biotechnology and Pharma Research,2015,4(2):113.
[17] Ye X, Zhang J, Li P, et al. A fast and stable vascular deformation scheme for interventional surgery training system[J]. Biomedical Engineering Online,2016,15(1):35.
[18] Chen G C, Lin C H, Li C M, et al. Virtual-reality simulator system for double interventional cardiac catheterization using haptic force producer with visual feedback[J]. Computers & Electrical Engineering,2016,53(C):230—243.
[19] 谢叻, 神祥龙, 吴朝丽, 等. 具有力反馈的心血管介入虚拟手术模拟器的研发[J]. 江西师范大学学报:自然科学版,2017,41(4):331—337.Xie Le, Shen Xianglong, Wu Zhaoli, et al. The simulator development of cardiovascular interventional virtual surgery with force feedback[J]. Journal of jiangxi normal university:natural science edition,2017,41(4):331—337.
[20] Cai J, Xie H, Zhang S, et al. Pilot study on vascular intervention training based on blood flow effected guidewire simulation[C]// Engineering in Medicine and Biology Society (EMBC), 2017 39th Annual International Conference of the IEEE.Jeju Island,South Korea:IEEE,2017:3381—3384.
[21] Cai J, Xie H, Zhang S, et al. Blood flow-induced physically based guidewire simulation for vascular intervention training[J]. International Journal of Computer Assisted Radiology & Surgery,2017,12(9):1—13.