Journal of Shandong University(Engineering Science) ›› 2021, Vol. 51 ›› Issue (1): 114-119.doi: 10.6040/j.issn.1672-3961.0.2020.364

Previous Articles    

Novel guidewire modeling method based on Energy minimum theory

WANG Yu, LIU Hao   

  1. School of Electrical Engineering and Information, Southwest Petroleum University, Chengdu 610500, Shichuan, China
  • Published:2021-03-01

Abstract: 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.

Key words: energy minimum theory, guidewire modeling, endovascular interventional surgery, VR, visual feedback

CLC Number: 

  • TP249
[1] 黄达. 血管介入手术机器人系统机构设计与仿真分析[D]. 秦皇岛:燕山大学, 2019. HUANG Da. Research on design and analysis of mechanism of vascular interventional surgical robot [D].Qinhuangdao: Yanshan University, 2019.
[2] CHA Hyojeong, YI Byungju, JONG Yunwon. An assembly-type master-slave catheter and guidewire driving system for vascular intervention[J]. Proceedings of the Institution of Mechanical Engineers(Part H: Journal of Engineering in Medicine), 2017, 231(1):69-79.
[3] HEDYEH Rafiitari, PAYNE Christopher J, YANG Guangzhong. Current and emerging robot-assisted endovascular catheterization technologies: a review[J]. Annals of Biomedical Engineering, 2014, 42(4):697-715.
[4] 杨镇. 我国普通外科医师培养模式及教学面临的问题及对策[J].中国实用外科杂志,2015,35(1):30-33. YANG Zhen. Problems and strategies faced by training model and education of general surgeon[J]. Chinese Journal of Practical Surgery, 2015, 35(1):30-33.
[5] 程宇航. 基于导管路径规划的血管介入手术医生训练系统研究[D].天津:天津理工大学,2018. CHENG Yuhang. Study of the vascular interventional surgery doctor's training system based on catheter path panning[D]. Tianjin: Tianjin University of Technology, 2018.
[6] 孔祥溢,王任直.虚拟现实技术在神经外科手术规划及教学培训中的应用[J].中国医学物理学杂志,2017,34(6):641-643. KONG Xiangyi, WANG Renzhi. Virtual reality technology in surgical planning and training of neurosurgery[J].Chinese Journal of Medical Physics, 2017, 34(6):641-643.
[7] 朱佳伟,潘周娴,陈适,等.虚拟现实技术在医学领域的应用及展望[J].基础医学与临床,2018,38(3):422-425. ZHU Jiawei, PAN Zhouxian, CHEN Shi, et al. App-lication and prospect of virtual reality technology in the medical field[J].Basic Medicine and Clinics, 2018, 38(3): 422-425.
[8] 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(3):25-31. MA Xin, WU Jianshu, WANG Shuguo, et al. Simulation training system for cerebrovascular interventional surgery[J]. Chinese Journal of Dialysis and Artificial Organs, 2010(3):25-31.
[9] 刘龙, 曹彤, 刘达,等.血管介入机器人系统的临床培训[J].高技术通讯,2014,24(7):759-764. LIU Long, CAO Tong, LIU Da, et al. Clinical training for vascular intervention robot systems[J]. Chinese High Technology Letters, 2014, 24(7):759-764.
[10] 曾道炳.虚拟现实技术在精准医疗时代肝胆外科教学中的应用展望[J].北京医学,2017,39(12):1292-1293. ZENG Daobing. The application prospect of virtual reality technology in hepatobiliary surgery teaching in the era of precision medicine[J] Beijing Medicine, 2017, 39(12):1292-1293.
[11] WU X, LUBOZ V, KRISSIAN K, et al. Segmentation and reconstruction of vascular structures for 3D real-time simulation[J]. Medical Image Analysis, 2011, 15(1):22-34.
[12] ZHANG D P, WANG T M, LIU D, et al. Vascular deformation for vascular interventional surgery simulation[J]. The International Journal of Medical Robotics and Computer Assisted Surgery, 2010, 6(2):171-178.
[13] LUBOZ V, BLAZEWSKI R, GOULD D. Real-time guidewire simulation in complex vascular models[J]. Vis Comput, 2009, 25(9):827-834.
[14] VINCENT Luboz, ZHAI Jianhua, TOLU Odetoyinbo, et al. Guidewire and catheter behavioral simulation[J]. Study in Health Technology and Information, 2011, 163: 317-323.
[15] TANG W, LAGADEC P, GLOUD D. A realistic elastic rod model for real-time simulation of Minimally invasive vascular interventions[J]. The Visual Computer, 2010, 26(9): 1157-1165.
[16] LUBOZ V, LAI L, BLAZEWSKI J, et al. A virtual environment for core skills training in vascualr inter-ventional radiology[J].Biomedical Simulation, 2008, 5104:215-220.
[17] VENKITESWARAN V K, SIKORSKI J, MISRA S. Shape and contact force estimation of continuum manipulators using pseudo rigid body models[J]. Mec-hanism and Machine Theory, 2019, 139:34-45.
[18] CARDOSO F M, FURUIE S S. Guidewire path determination for intravascular applications[J]. Com-puter Methods in Biomechanics and Biomedical Eng-ineering, 2016, 19(6):628-638.
[19] CHENG X R, XIE X L, BIAN G B, et al. A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery[J]. Science China Information Sciences, 2018, 61(10):250-252.
[20] ALDERLIESTEN T, KONINGS M K, NIESSEN W J. Simulation of guide wire propagation for minimally invasive vascular interventions[M] //Lecture Notes in Computer Science. Heidelberg, Springer, 2002, 2489: 245-252.
[21] 许梦龙. 介入手术导丝建模及介入仿真研究[D].保定:河北大学,2018. XU Monglong. Research of guidewire modeling and simulation of interventional surgery[D].Baoding: Hebei University, 2018.
[1] LI Sun, WANG Chao, ZHANG Guilin, XU Zhigen, CHENG Tao, WANG Yiyuan, WANG Ruiqi. Short-term power load forecasting based on support vector regression [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(6): 52-56.
[2] XIE Caike, JIANG Ziming, LIU Yutian, WANG Chunyi. Remote testing on low voltage ride through of offshore wind turbines [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(4): 110-116.
[3] ZHAO Yanyan, FAN Liya. The application of a multi-output support vector regression
machine in time-dependent variational inequalities
[4] WU Lanping,HUANG Kezheng,HUO Zhipu,ZHU Fengjin,WANG Yandong . A virtual reality system applied in laparoscopic surgical skills training [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(4): 9-11 .
Full text



No Suggested Reading articles found!