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VCSim3：一种用于心血管介入的虚拟现实模拟器。

VCSim3: a VR simulator for cardiovascular interventions.

机构信息

Simulation and Modelling in Medicine and Surgery, Centre for Engagement and Simulation Science, Imperial College London, London, UK.

Chelsea and Westminster Hospital, 369 Fulham Road, London, SW10 9NH, UK.

出版信息

Int J Comput Assist Radiol Surg. 2018 Jan;13(1):135-149. doi: 10.1007/s11548-017-1679-1. Epub 2017 Oct 27.

DOI:10.1007/s11548-017-1679-1
PMID:29079992
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5754385/
Abstract

PURPOSE

Effective and safe performance of cardiovascular interventions requires excellent catheter/guidewire manipulation skills. These skills are currently mainly gained through an apprenticeship on real patients, which may not be safe or cost-effective. Computer simulation offers an alternative for core skills training. However, replicating the physical behaviour of real instruments navigated through blood vessels is a challenging task.

METHODS

We have developed VCSim3-a virtual reality simulator for cardiovascular interventions. The simulator leverages an inextensible Cosserat rod to model virtual catheters and guidewires. Their mechanical properties were optimized with respect to their real counterparts scanned in a silicone phantom using X-ray CT imaging. The instruments are manipulated via a VSP haptic device. Supporting solutions such as fluoroscopic visualization, contrast flow propagation, cardiac motion, balloon inflation, and stent deployment, enable performing a complete angioplasty procedure.

RESULTS

We present detailed results of simulation accuracy of the virtual instruments, along with their computational performance. In addition, the results of a preliminary face and content validation study conveyed on a group of 17 interventional radiologists are given.

CONCLUSIONS

VR simulation of cardiovascular procedure can contribute to surgical training and improve the educational experience without putting patients at risk, raising ethical issues or requiring expensive animal or cadaver facilities. VCSim3 is still a prototype, yet the initial results indicate that it provides promising foundations for further development.

摘要

目的

心血管介入的有效和安全实施需要出色的导管/导丝操作技能。这些技能目前主要通过在真实患者身上进行学徒制获得，但这种方法可能不安全或不具有成本效益。计算机模拟为核心技能培训提供了替代方案。然而，复制在血管中导航的真实器械的物理行为是一项具有挑战性的任务。

方法

我们开发了 VCSim3-一种用于心血管介入的虚拟现实模拟器。该模拟器利用不可伸长的卡塞格伦杆来模拟虚拟导管和导丝。它们的机械性能经过优化，以匹配使用 X 射线 CT 成像在硅胶模型中扫描的真实器械。仪器通过 VSP 触觉设备进行操作。支持的解决方案，如荧光透视可视化、对比剂流动传播、心脏运动、球囊充气和支架放置，使完整的血管成形术程序得以实现。

结果

我们展示了虚拟器械模拟准确性的详细结果及其计算性能。此外，还给出了一项针对 17 名介入放射科医生的初步面部和内容验证研究的结果。

结论

心血管手术的 VR 模拟有助于手术培训，并改善教育体验，而不会使患者面临风险、引发伦理问题或需要昂贵的动物或尸体设施。VCSim3 仍然是一个原型，但初步结果表明它为进一步发展提供了有前途的基础。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/1cf7a806245d/11548_2017_1679_Fig13_HTML.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/1cf7a806245d/11548_2017_1679_Fig13_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/f51542af2684/11548_2017_1679_Fig1_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/cf3675b10ecb/11548_2017_1679_Fig2_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/495057a7b891/11548_2017_1679_Fig3_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/5e845275adb7/11548_2017_1679_Fig4_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/33ff93f47726/11548_2017_1679_Fig5_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/832690a7617e/11548_2017_1679_Fig6_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/1b5428be1a8e/11548_2017_1679_Fig7_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/e07de2c2372d/11548_2017_1679_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/8b686bb0053a/11548_2017_1679_Fig9_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/2eca2cc31b99/11548_2017_1679_Fig10_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/e26766d7aad3/11548_2017_1679_Fig11_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/a864669c80eb/11548_2017_1679_Fig12_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b9e4/5754385/1cf7a806245d/11548_2017_1679_Fig13_HTML.jpg

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