Research On Virtual Reality And Master-slave Control Within Catheter Interventional Surgery

Compared to the traditional surgery,minimally invasive surgery has advantages such as fast treatment,less trauma and low cost,which makes it broadly used in the diagnosis and treatment of disease,like angiocardiopathy.However,the current invasive surgery exists problems of high operation difficulty,single control method,lack of feedback information and operation training with high cost while poor effect.So as to working on these insufficient,the virtual reality technology and master-slave control within catheter interventional surgery are studied and analyzed in-depth.The paper designs a catheter interventional surgery system with master-slave control and virtual force feedback,the system comprises of a virtual sub-system and a master-slave control sub-system.With the help of force feedback in the virtual system,operators can have a more realistic feel when proceeding the operation training.By means of master-slave control,physicians can get rid of the high risk operating theater,and get easy to manoeuvre at the same time.In order to realize the force feedback and deformation within the virtual system,the flexible body modeling,collision detection,and force-feedback computation are studied.By analyzing the biological materials of soft tissue,the physical model of human organs are simplified as viscoelastic model.As a result of summarizing the frequently used physical modeling method, a skeleton spring model,which is based on the mass spring model,is proposed to construct the physical model of virtual vessel.By comparing the classical bounding box algorithms,a collision detection method is designed based on the sphere box and skeleton spring model.According to the skeleton spring modeling method,the virtual force-feedback computation model and virtual deformation calculation model are established.In the fulfillment of master-slave control,the kinematics of the typical active catheter structure is studied.The master-slave mapping models are set up respectively by using spatial point-to-point mapping and incremental mapping.In order to decrease the influence of hand tremor,a digital filter is designed based on recursive weighted mean.With the help of Falcon as the force feedback device in the virtual system and the master in the master-salve control system,and the PMAC as the control card,the system prototype is developed with the aid of Open GL and Chai3 D on the Visual C++ platform.The final experiments show that the designed system is feasible and effective.