A realistic elastic rod model for real-time simulation of minimally invasive vascular interventions

Simulating intrinsic deformation behaviors of guidewire and catheters for interventional radiology (IR) procedures, such as minimally invasive vascular interventions is a challenging task. Especially real-time simulations for interactive training systems require not only the accuracy of guidewire manipulations, but also the efficiency of computations. The insertion of guidewires and catheters is an essential task for IR procedures and the success of these procedures depends on the accurate navigation of guidewires in complex 3D blood vessel structures to a clinical target, whilst avoiding complications or mistakes of damaging vital tissues and blood vessel walls. In this paper, a novel elastic model for modeling guidewires is presented and evaluated. Our interactive guidewire simulator models the medical instrument as thin flexible elastic rods with arbitrary cross sections, treating the centerline as dynamic and the deformation as quasi-static. Constraints are used to enforce inextensibility of guidewires, providing an efficient computation for bending and twisting modes of the physically-based simulation model. We demonstrate the effectiveness of the new model with a number of simulation examples.

[1]  Wiro J Niessen,et al.  Simulation of minimally invasive vascular interventions for training purposes† , 2004, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[2]  Wen Tang,et al.  Fast and Accurate Finite Element Method for Deformation Animations , 2009, TPCG.

[3]  Chee-Kong Chui,et al.  Simulation of interventional neuroradiology procedures , 2001, Proceedings International Workshop on Medical Imaging and Augmented Reality.

[4]  Fernando Bello,et al.  A Virtual Environment for Core Skills Training in Vascular Interventional Radiology , 2008, ISBMS.

[5]  Stephane Cotin,et al.  New Approaches to Catheter Navigation for Interventional Radiology Simulation , 2005, MICCAI.

[6]  R. Satava,et al.  Virtual Reality Training Improves Operating Room Performance: Results of a Randomized, Double-Blinded Study , 2002, Annals of surgery.

[7]  S. Shankar Sastry,et al.  Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles , 2008, 2008 IEEE International Conference on Robotics and Automation.

[8]  Frode Laerum,et al.  The acquisition of skills in interventional radiology by supervised training on animal models: A three-year multicenter experience , 2004, CardioVascular and Interventional Radiology.

[9]  J. Spillmann,et al.  CoRdE: Cosserat rod elements for the dynamic simulation of one-dimensional elastic objects , 2007, SCA '07.

[10]  Laurent Grisoni,et al.  Surgical thread simulation , 2002 .

[11]  Jin Seob Kim,et al.  Nonholonomic Modeling of Needle Steering , 2006, Int. J. Robotics Res..

[12]  Florence Bertails,et al.  Linear Time Super‐Helices , 2009, Comput. Graph. Forum.

[13]  S. Shankar Sastry,et al.  A laparoscopic telesurgical workstation , 1999, IEEE Trans. Robotics Autom..

[14]  J Schröder,et al.  The mechanical properties of guidewires , 1993, CardioVascular and Interventional Radiology.

[15]  Wiro J. Niessen,et al.  Modeling Friction, Intrinsic Curvature, and Rotation of Guide Wires for Simulation of Minimally Invasive Vascular Interventions , 2007, IEEE Transactions on Biomedical Engineering.

[16]  Olga Sorkine-Hornung,et al.  On Linear Variational Surface Deformation Methods , 2008, IEEE Transactions on Visualization and Computer Graphics.

[17]  Marie-Paule Cani,et al.  Super-helices for predicting the dynamics of natural hair , 2006, SIGGRAPH 2006.

[18]  K. Goto,et al.  An Evaluation of the Physical Properties of Current Microcatheters and Guidewires , 1997, Interventional neuroradiology : journal of peritherapeutic neuroradiology, surgical procedures and related neurosciences.

[19]  J. Wendlandt,et al.  ICTS, an interventional cardiology training system. , 2000, Studies in health technology and informatics.

[20]  Dinesh K. Pai,et al.  STRANDS: Interactive Simulation of Thin Solids using Cosserat Models , 2002, Comput. Graph. Forum.

[21]  R. S. Falk,et al.  Convergence of a second-order scheme for the nonlinear dynamical equations of elastic rods , 1995 .

[22]  D. Miller,et al.  Cardiovascular/interventional radiology. , 1991, Radiology.

[23]  J. Z. Zhu,et al.  The finite element method , 1977 .

[24]  E. Grinspun,et al.  Discrete elastic rods , 2008, SIGGRAPH 2008.

[25]  J. Thompson,et al.  Instability and self-contact phenomena in the writhing of clamped rods , 2003 .

[26]  Chun-Chi Lin,et al.  On the Geometric Flow of Kirchhoff Elastic Rods , 2004, SIAM J. Appl. Math..