Study Of The Vascular Interventional Surgery Doctor's Training System Based On Catheter Path Panning

At present,cardiovascular and cerebrovascular diseases have become the number one killer endangering human health,and minimally invasive interventional surgery is the main treatment method,however,there are some problems in the traditional interventional surgery,such as exposure to radiation when the doctor is operating and long operation time,therefore,the research of vascular interventional doctor's training system based on Virtual Reality(VR)technology is becoming more and more important.Through the research of vascular interventional doctor's training system based on VR,this paper designed a new vascular interventional doctor's training system based on catheter path planning.In this study,the three-dimensional reconstruction of vascular model in virtual environment,the reasonable path planning of catheter during moving and the realization of human-computer interaction of the system were studied respectively,and tested the effectiveness of path planning the catheter and force feedback validation.First of all,in the existing methods of three-dimensional reconstruction of vascular models,the huge amount of data in medical images may lead to the loss of data and information in the process of the model creation,which will affect the quality of the vascular model and the realism of the virtual environment,to solve this problem,this paper proposed a new method of 3D reconstruction of vascular model,which improved the quality of vascular model and the realism of virtual environment.This paper was based on the Mimics17.0 platform and used C ++ language and open graphics development package ActiViz.NE and the graphics rendering toolkit OpenGL to write a three-dimensional reconstruction software for processing cerebrovascular Computed Tomography Angiography(CTA)data,which realized 3D reconstruction of cerebrovascular CT(Computed Tomography)images.The obtained blood vessel model is closer to the real blood vessel in its physical characteristics and biological characteristics,which improves the realism of the virtual environment so as to improve the training effect of the system.Secondly,in view of the blindness of the trainer during the catheterization operation and the lack of a reasonable path planning problem vascular interventional doctor's training system,this paper proposed a novel catheter path planning algorithm.Firstly,the 3D model in the virtual environment is transformed into a scene projection matrix defined by the color values.Then,under the action of the algorithm 3,firstly,the route around the obstacle is obtained by the algorithm 1 and the initial avoidance is obtained Then,Algorithm 2 is used to optimize the initial path obtained to achieve the catheter path planning.The purpose of Algorithm 3 is to enable doctors to protect the blood vessels from being punctured by the catheter during the simulation training of the operation.By path planning of the catheter of the vascular interventional surgery doctor's training system,the training time of a complete surgical simulation operation is reduced and the training effect of the system is improved.Thirdly,in the paper,the above algorithm is integrated in Unity 3D in the form of C # and assigned it to the catheter model in the virtual environment to realize the path planning of the catheter,then adopted the TCP / IP protocol,and used the Socket between the applications to achieve data transmission training system to achieve human-computer interaction.Finally,the related validation experiments of the vascular interventional doctor's training system based on catheter path planning were carried out.First of all,the validation experiment of the effect of catheter path planning was carried out.The error curve of the corresponding point of the real path and the planned path was obtained.The maximum error of the point corresponding to the real path and the planned path was 0.35 mm and the average error was 0.25 mm,the maximum error is smaller than the radius of the blood vessel by 0.3cm,which satisfied the system requirements.Secondly,in order to verify the validity of the force feedback of the training system,a force feedback validation experiment was carried out,and the force feedback curve of the virtual environment was obtained.When the maximum deformation of the blood vessel was 0.3mm,the maximum feedback force was 0.1069 N,the system realized the force feedback in real time and accurately,and had good stability.