Beijing University of Aeronautics and Astronautics Robotics Institute, Beijing, People's Republic of China.
Int J Med Robot. 2010 Jun;6(2):171-7. doi: 10.1002/rcs.302.
Obtaining the expertise to perform minimally vascular interventional surgery (VIS) requires thorough training. Previous VIS simulators have generally assumed that blood vessels are rigid. However, vascular deformation occurs unavoidably in VIS. In this study, the arterial walls were analysed as soft tissue.
A mass-spring model (MSM) was applied for vascular deformation simulation. To improve simulation precision, the spring coefficient was derived from a reference model, simulated with a linear finite element method (FEM), which established a link between the spring coefficient and the properties of the vascular materials. In order to evaluate the simulation results, we applied identical external forces to FEM and MSM and calculated their deformations. Additionally, based on the proposed MSM, we designed a VIS simulator to achieve renal artery intervention. Quantitative validation was performed by comparing the simulated catheter position with a reference position, as assessed by 3D rotational angiography imaging.
From the simulation results, we could clearly see that MSM deformation was real-time and very close to the linear FEM reference, and MSM was successfully adopted in our renal artery intervention simulator.
MSM with a spring coefficient derived from linear FEM was able to produce a realistic deformation simulation of arterial walls. This method could also be extended to model other organ deformations.
获得进行微创血管介入手术（VIS）的专业知识需要进行全面的培训。以前的 VIS 模拟器通常假设血管是刚性的。然而，血管变形在 VIS 中不可避免地会发生。在这项研究中，动脉壁被分析为软组织。
应用质量-弹簧模型（MSM）进行血管变形模拟。为了提高模拟精度，从使用线性有限元方法（FEM）模拟的参考模型中得出了弹簧系数，该模型建立了弹簧系数与血管材料特性之间的联系。为了评估模拟结果，我们将相同的外力应用于 FEM 和 MSM，并计算它们的变形。此外，基于提出的 MSM，我们设计了一种 VIS 模拟器来实现肾动脉介入。通过比较 3D 旋转血管造影成像评估的模拟导管位置和参考位置，进行了定量验证。
从模拟结果可以清楚地看出，MSM 变形是实时的，与线性 FEM 参考非常接近，并且 MSM 已成功应用于我们的肾动脉介入模拟器中。
使用从线性 FEM 得出的弹簧系数的 MSM 能够产生动脉壁的逼真变形模拟。这种方法也可以扩展到模拟其他器官的变形。
