基于虚拟现实的血管内介入手术三维导丝运动模拟

导管和导丝在血管中的运动模拟在介入手术训练、计划及术中辅助治疗中具有重要意义。本文提出了一种快速有效的碰撞消除方法，开发了实时三维介入手术模拟系统，以模拟导管或导丝在实际血管中的运动行为。采用OpenGL图形库检测导管或导丝与血管壁之间的碰撞，通过几何分析和旋转角传播方法消除碰撞，最后对导管或导丝模型施加松弛过程，使其状态与实际状态更加吻合。实验结果表明，导管或导丝模型的运动状态与给定的材料参数密切相关，松弛过程使其状态更加自然，模拟可满足实时要求，方法可靠有效。

VIRTUAL REALITY BASED THREE-DIMENSIONAL GUIDE WIRE PROPAGATION SIMULATION FOR ENDOVASCULAR INTERVENTION

The virtual reality based motion simulation of the guide wire and the catheter inside specific vascular structures can benefit a lot for the endovascular intervention.A fast and well-performed collision cancellation al-gorithm is proposed based on the geometric analysis and the angular propagation (AP),and a 3-D real-time inter-active system is developed for the motion simulation of the guide wire and the catheter inside the specific patient vascular.The guide wire or the catheter is modeled as the "multi-body" representation and properties are defined by its intrinsic characteristics.The motion of the guide wire or the catheter inside the vascular is guided by the collision detection and the collision cancellation algorithm.Finally,a relaxation procedure is used to achieve more realistic status.Experimental results show that the behavior of the guide wire or the catheter depends on the de-fined parameters.The real-time simulation ean be achieved.The result shows that the simulation system is effec-tive and promising.