基于非线性力反馈的血管介入手术训练系统

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.