A Collision Response Algorithm for 3D Virtual Reality Minimally Invasive Surgery Simulator
In recent years,rapid development of minimally invasive surgery has taken place.Virtual reality simulator enables the trainees to obtain the core catheter/guide wire handling skills and to decrease the error rate of operation prior to performing them on a real patient.In this paper,we present and evaluate a collision response algorithm and a force feedback computing method for simulating a catheter/guide wire in the interactive 3D virtual realty simulator based on a robotic catheter/guide wire operating system.In order to provide a real-time virtual environment,a multi-threading technology is used to accelerate the medical simulation procedure.Finally,we test the virtual catheter/guide wire with a complex and realistic 3D vascular model,which is generated from computed tomography angiography(CTA)series in DICOM datasets captured in a actual patient.The results show that the collision response algorithm in the system is effective and promising.
Mass-spring model Catheter/guide wire Collision response Force feedback Multi-threading and Robotic
Shao-Hua Mi Zeng-Guang Hou Fan Yang Xiao-Liang Xie Gui-Bin Bian
State Key Laboratory of Management and Control for Complex Systems Institute of Automation,Chinese Academy of Sciences Beijing,100090 China
国际会议
长沙
英文
4594-4599
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）