Real-time motion simulation method for guide wire in minimally invasive vessel interventional operation

The invention relates to a real-time motion simulation method for a guide wire in a minimally invasive vessel interventional operation. The real-time motion simulation method comprises the following steps: (1) adopting a triangular surface mesh to perform modeling of a vessel; (2) adopting a Kirchhoff elastic rod model to perform modeling of the guide wire, and utilizing a Lagrange equation to calculate deformation force of the guide wire in the simulation process; (3) rendering the guide wire; (4) adopting a K-DOPS tree to perform collision detection between the guide wire and the vessel; (5) adopting a non-iterative restraint method to calculate contact force between the guide wire and the vessel and performing collision response; (6) using a Verlet integral formula to perform iteration update on position and speed of the guide wire; (7) utilizing Lagrange's multiplier and a fast projection method to achieve non-telescopic characteristics of the guide wire; and (8) using a force feedback device Phantom Omni to render acting force of the guide wire on a user. Compared with the prior art, the real-time motion simulation method has the advantages of being stable and reliable, convenient to achieve, real, efficient and high in engineering applicability and the like.