CN104318840A - Simulation method of medical surgical instrument guide wire on basis of spring proton model - Google Patents
Simulation method of medical surgical instrument guide wire on basis of spring proton model Download PDFInfo
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Abstract
The invention provides a simulation method of a medical surgical instrument guide wire on basis of a spring proton model. The simulation method includes four steps that a guide wire model is established, and a virtual spring mass point model is established for a real guide wire; simulation of a guide wire movement process includes pushing, pulling and rotating operations of the guide wire; self-adaption sampling in the guide wire movement process is achieved, and further real simulation effect can be achieved at a blood vessel curving position with large curvature; real simulation in complex virtual surgery environments of the guide wire can be achieved, and collision with and response to virtual blood vessel walls and accurately entering blood vessel branches can be mainly achieved. According to the simulation method of the medical surgical instrument guide wire on basis of the spring proton model, the simulation method is based on spring mass point simulation, and instantaneity is better and calculation is simpler than that of a finite element method.
Description
Technical field
The present invention relates to a kind of analogy method of the medical surgery apparatus seal wire based on spring proton model.
Background technology
Angiocardiopathy, being also called circulation system disease, is a series of diseases (circulation system refers to hemophoric Organ and tissue in human body, mainly comprises heart, blood vessel) relating to the circulation system, can be subdivided into acute and chronic, be all generally relevant with artery sclerosis.In current world wide, have population that is cardiovascular and relevant disease to account for 1/4 of world population, therefore, angiocardiopathy has become a difficult problem for world medical circle, is one of challenge of the whole mankind.
Toluidine blue O (IR, InterventionalRadiology) therapy is under the Medical Imaging Technologies such as perspective, CT, MRI, B ultrasonic guide, by puncture, conduit, seal wire etc. are inserted into diseased region, to the new disciplines that each organ disease of health is treated.At present, intervene operation developed into treatment cardiovascular patient the most effectively, one of method the most timely, intervene operation is a kind of Minimally Invasive Surgery, have painful little, the hospital stays is short, security advantages of higher.At present, when carrying out intervene operation operation, the image that will obtain according to the perspective imaging technology (such as X-ray etc.) of Real-time Two-dimensional, operating theater instruments is pushed away, draws, the operation such as rotation, control the position that operating theater instruments arrives focus, carry out operative treatment, so just require that the doctor carrying out intervene operation operation will have a large amount of clinical experiences and skilled operative technique.
The basic object of all affine trainings is all the ability of cultivation operation core instrument.As for Minimally Invasive Surgery, need to give to the operation of seal wire the end how passing through to control seal wire training, under fluoroscope guides, carry out operation technique.In order to provide training environment, the simulates real solid of the motion of seal wire in human vas is extremely important for training effect.For such modeling algorithm, authenticity and rate request are all extremely important.
In order to solve above-mentioned requirement, the present invention is based on spring proton model, set up seal wire model, and the authenticity in order to seal wire has been made some and analyzed, by keeping the internal force of most advanced and sophisticated bent angle to adding in guide wire motion process, sampling to seal wire dynamic self-adapting and carry out the method such as collision detection and response to seal wire has reached requirement.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiency in the authenticity of algorithm of more existing simulation seal wires or speed, provide a kind of analogy method of the medical device seal wire based on spring proton model.And by the analysis to guide wire motion process, provide more real algorithm, ensure that the requirement of authenticity and speed.
The technical solution used in the present invention is: a kind of analogy method of the medical device seal wire based on spring proton model, comprises following four steps:
Step (1), set up seal wire model: according to the geometric properties of seal wire, seal wire model discretize is become Mass Model, sets up spring model according to given physical parameter between particle, in order to simulation process Modling model basis below.
, wherein for the push operation of seal wire, there is the situation bent in step (2), simulation to guide wire motion process, select the tip portion of seal wire to upgrade the method for position in Ink vessel transfusing motion process in order to prevent seal wire; For the pulling process of seal wire, owing to there is no the problem bent, upgraded position so divide from the body of seal wire; For the rotation process of seal wire, input the anglec of rotation by external unit, calculate turning axle and position is upgraded.
, in the simulation process of guide wire motion, the collision with vascular wall may be there is, at this time need to respond collision, prevent phenomenon of osmosis, reach more real simulate effect in the collision detection of step (3), seal wire and response.
Step (4), adaptively sampled to seal wire, when seal wire moves in the blood vessel, due to the complicacy of blood vessel structure itself, in the part that curvature is little, seal wire only needs a small amount of point to express, to reach high efficiency, but in the large place of curvature, only have more point to simulate more really, prevent crenellated phenomena.
Principle of the present invention is:
(1) by seal wire model discretize, set up the mass-spring modeling of seal wire, in order to the cuspidated seal wire model of analog band, different spring parameters is distinguished with body in the tip of seal wire.
(2) in order to simulate the motion process of seal wire, three kinds of internal force and two kinds of external force of seal wire are considered in the present invention, consider pulling force between seal wire particle and bending force respectively and keep the power of wire tips shape, the principle of these three power is based on Hooke's law.Two external force are that trainer collides with vascular wall the power produced to the Input Forces of seal wire and seal wire in motion process respectively.
(3) for the collision response of seal wire, for first point of impingement of seal wire, when being that vascular wall expands, receive impact force size and penetration range has relation, this power is resolved into the holding power in Collision surface normal direction and the friction force of tangential direction, when other point of seal wire is collided, only receive the friction force of tangential direction.
(4) adaptively sampled in motion process of seal wire, prior setting threshold value, the angle (curvature) formed when a point and surrounding point is less than threshold value, and when the density of point is larger, need increase by two points, thus make simulate effect truer.The present invention compared with prior art advantage is:
1. the present invention adopts mass-spring modeling to simulate, and such model is compared to FEM method, and time efficiency is higher, and the tip of seal wire and body are imparted different material parameters, simulates different physics material properties.
2. contemplated by the invention the internal force keeping wire tips shape, and consider the power of seal wire stretch-proof.
3. the present invention carries out collision detection by the method setting up AABB bounding box, and in order to improve detection efficiency, testing process realizes on GPU.
Accompanying drawing explanation
Fig. 1 is the processing flow chart of the analogy method of medical surgery apparatus seal wire based on spring proton model;
Fig. 2 is the discrete representation of seal wire, particle model;
Fig. 3 is the given angle of the rotation one of seal wire;
Fig. 4 is seal wire stressed schematic diagram in different place when colliding from vascular wall;
Fig. 5 is the calculating schematic diagram that seal wire is subject to bending force;
Fig. 6 is the schematic diagram of seal wire dynamic self-adapting sampling;
Fig. 7 is seal wire movement effects figure in systems in which, Fig. 7 (a) and Fig. 7 (b) represents in the same position of blood vessel, enter different branches, the left figure of Fig. 7 (c) is that Fig. 7 (a) removes effect after vascular pattern, and the right figure of Fig. 7 (c) is that Fig. 7 (b) removes effect after vascular pattern;
Embodiment
Fig. 1 gives the processing flow chart of the analogy method of the medical surgery apparatus seal wire based on spring proton model, further illustrates the present invention below in conjunction with other the drawings and the specific embodiments.
The invention provides a kind of medical device seal wire analogy method based on spring proton model, key step is described below:
1. seal wire method for establishing model
Seal wire by spring proton model as Fig. 2.By series of points (X0 ..., XN) by regular length be λ spring connect.The uniform quality of seal wire give all particles, can find out in the drawings, the tip portion of seal wire is by several point (X0 above, ..., Xtlength) represent, remaining point represents the body (X0 of seal wire, ..., Xtlength), these two parts are process separately, has difference at the rotation process of seal wire.
2. for the analogy method of guide wire motion process
Mainly comprise three operations: push away, draw and rotation process.Traditional method is the value t by a given translation, value is for just to represent push operation, value represents pulling process for negative, then the location update operations of seal wire is updated to first most advanced and sophisticated distal point from last point, then such operate in when carrying out pulling process no problem, but bending phenomenon was then easily produced when carrying out push operation, so the present invention selects first to carry out from the tip of seal wire the mode upgrading the body then upgrading seal wire for push operation, be specially last point of tip (Tip) part first calculating seal wire and first point of body (Body), be respectively X4 and X5 in figure, between the direction of the most most advanced and sophisticated push operation power of vector of unit length, by the distance of tip point along this direction translation input value t size, after most advanced and sophisticated translation, the point of body upgrades position successively from X5.For the pulling process of seal wire, because there will not be bending phenomenon, so calculate last point of seal wire to obtain moving direction with the point before it, then for seal wire institute a little, from last point of body, along the distance of direction translation t, until institute has a updated space to put.
In any case translation seal wire, the length of seal wire intravasation all can change, seal wire intravasation process better can be simulated again in order to improve simulation precision, present invention uses the method for dynamic additions and deletions seal wire point, when being specially push operation, when seal wire intravasation length is greater than 1/2 of seal wire total length, a point is dynamically added at seal wire end, when carrying out pulling process to seal wire, when the length that seal wire goes out blood vessel is greater than 1/2 of seal wire total length, dynamically delete a point at seal wire end.
For the rotation process of seal wire, common way is, by a given rotation angle, then carries out rotation process to the tip portion of seal wire.The present invention is in order to improve the validity of simulation, have employed the method from " bottom-up ", when a rotation angle is used in the end of seal wire most, as shown in Figure 3, first obtain first turning axle by two some differences of seal wire least significant end, all points rotate around turning axle until certain point collides with vascular wall, Xb as shown in Figure 3, collide response, and obtain new turning axle by calculating the point of impingement with next point
point then before all points of impingement, first along first turning axle again along new rotation angle, rotate at every turn
angle, repetitive routine is until the next point of impingement occurs.
3. the collision detection of seal wire and response method
The collision detection of seal wire is the method for the AABB bounding box based on GPU, and GPU creates to seal wire and vascular wall AABB bounding box detects point and the dough sheet sequence number collided and the position of collision collided again coordinate by the detection method of triangle and straight line intersection respectively.
Once Programmable detection is to colliding, seal wire must move to limit seal wire and remain on internal blood vessel motion.Appear at the collision response stage to the restriction operation of the power of particle, each simulation loop all can apply four kinds of power to seal wire: external force, spring force, 2D bending force, 3D bending force.
(1), external force is the reaction of colliding seal wire bounding box and vascular wall triangle.For any particle collided, the computing formula of impact force:
Wherein Fexternal represents impact force, and Ke represents outer force coefficient,
the leg-of-mutton average normal of representative collision, d is penetration range, and ε represents constant minor increment.
Impact force will be obtained to project respectively Collision surface normal direction, and impingement area tangential direction (seal wire projects as impingement area), these two power are applied on the point of impingement, if the point of impingement is not seal wire first point, only add friction force, specifically as shown in Figure 4.
(2), spring force restriction seal wire stretchability, formula is:
Fspring＝-ks(l{i-1，i+1}-λ)·v{i-1，i+1}
Wherein Fspring represents spring force, Ks represents the elasticity coefficient of spring, l{i-1, i+1} represent the distance between particle i and neighbours, v{i-1, i+1} represents the vector between particle i and neighbours, between particle, rigid rod is connected, during each iteration, and l{i-1, i+1} is the initial segment length of seal wire close to λ, λ as far as possible.
(3), 2D bending force object keeps seal wire body to be the original shape (being provided by basic angle) of straight shape and wire tips, and for i-th particle, the formula of 2D bending force is:
Wherein, Fbending represents bending force, Kb represents tortuosity factor, and θ i represents the angle of bend of i-th point, and θ b represents the basic angle of i-th point, for seal wire body, the value of θ b is 0, for wire tips, is initial bending angle, that u{i-1} is perpendicular to vector v 1 and be in the vector of same plane with vector v 2, as shown in Figure 5.
(4), 3D bending force is applied to for external force the response that wire tips makes, usually due to External Force Acting, the tip point of seal wire may go out to depart from original plane and cause not all point in the situation of same plane, point for seal wire body does not then have this consideration, because can move to arbitrary direction.In truth, the tip of seal wire must be in same plane.And 2D bending force can only ensure to keep between wire tips point initial angle, but being not enough to restriction wire tips point is in same plane.So in simulations, be the power of a some applying 3D of each wire tips, concrete formula is as follows:
F3D_bending＝-kb3D·α·w{i-1}
Wherein, F3D_bending represents 3D bending force, and kb3D is tortuosity factor, and α is the bending angle between body plane π 2 and tip plane π 1, and w{i-1} is the normal of the vector identical with n2 direction, body plane, but acts on point (i-1).Body plane has the first two point (Xtlenght and Xtlenght-1) of wire tips and seal wire body first point (Xtlenght+1) jointly to determine, the plane of wire tips is by its two neighbors decided XiXi+1 and Xi-1Xi of Xi.
(5), the dynamic self-adapting sampling of seal wire, shown in figure as left in Fig. 6, vector of unit length i and k is the direction of line segment xi-1xi and xixi+1, j be vectorial i and k and, when the angle theta of vector is greater than the threshold value of setting and puts more sparse, then increase by two new points.Straight line T is the tangent line of an xi:
T＝j×k×i
Line P1 and P2 is the perpendicular bisector of line segment xi-1xi and xixi+1 respectively, and L1 is the angular bisector of line segment xixi+1 and T, and L2 is similar, and can find out from image that P and line segment and tangent line T have two intersection points, the mid point of two intersection points is exactly the split point newly increased.It is the design sketch after division shown in figure as right in Fig. 6.
Finally our seal wire model carries out analog demenstration in surgery systems, and obtains satisfied result, and demonstration the results are shown in Figure 7, demonstration be that seal wire moves at Ink vessel transfusing, and manual control can be passed through at vascular bifurcation place, enter in different bifurcateds.What wherein Fig. 7 (a) and Fig. 7 (b) showed is at same vascular bifurcation place, two of seal wire intravasation different branches can be made owing to carrying out the tip portion of seal wire front end rotating, as entered branch above in (a), show in Blue circles region, branch is below entered in (b), display in Blue circles, result in Fig. 7 (c) in left and right two width figure difference corresponding diagram 7 (a) (b), difference eliminates heart texture, shows the motion conditions of seal wire at blood vessel more intuitively.
The technology contents that the present invention does not elaborate belongs to the known technology of those skilled in the art.
Although be described the illustrative embodiment of the present invention above; so that the technician of this technology neck understands the present invention; but should be clear; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various change to limit and in the spirit and scope of the present invention determined, these changes are apparent, and all innovation and creation utilizing the present invention to conceive are all at the row of protection in appended claim.
Claims (4)
1., based on an analogy method for the medical surgery apparatus seal wire of spring proton model, it is characterized in that comprising four steps:
Step (1), set up seal wire model: according to the geometric properties of seal wire, seal wire model discretize is become Mass Model, sets up spring model according to given physical parameter between particle; Seal wire by series of points (X0 ..., XN) by regular length be λ spring connect; The uniform quality of seal wire give all particles, the tip portion of seal wire is by several point (X0 above, ..., Xtlength) represent, remaining point represent seal wire body (X0 ..., Xtlength), these two parts are process separately, has difference at the rotation process of seal wire;
Step (2), simulation to guide wire motion process: wherein for the push operation of seal wire, occurred the situation bent in order to prevent seal wire in Ink vessel transfusing motion process, select the tip portion of seal wire to upgrade the method for position; For the pulling process of seal wire, owing to there is no the problem bent, upgraded position so divide from the body of seal wire; For the rotation process of seal wire, input the anglec of rotation by external unit, calculate turning axle and position is upgraded; Be specially last some X4 of tip (Tip) part first calculating seal wire and first some X5 of body (Body), vector of unit length between them is the direction of most advanced and sophisticated push operation power, by the distance of tip point along this direction translation input value t size, after most advanced and sophisticated translation, the point of body upgrades position successively from X5; When being specially push operation, when seal wire intravasation length is greater than 1/2 of seal wire total length, dynamically add a point at seal wire end, when carrying out pulling process to seal wire, when the length that seal wire goes out blood vessel is greater than 1/2 of seal wire total length, dynamically delete a point at seal wire end;
, in the simulation process of guide wire motion, the collision with vascular wall may be there is, at this time need to respond collision, prevent phenomenon of osmosis, reach more real simulate effect in the collision detection of step (3), seal wire and response; The collision detection of seal wire is the method for the AABB bounding box based on GPU, and GPU creates to seal wire and vascular wall AABB bounding box detects point and the dough sheet sequence number collided and the position of collision collided again coordinate by the detection method of triangle and straight line intersection respectively;
Once detect and collide, seal wire must move to limit seal wire and remain on internal blood vessel motion; Appear at the collision response stage to the restriction operation of the power of particle, each simulation loop all can apply four kinds of power to seal wire: external force, spring force, 2D bending force, 3D bending force;
1) impact force is the reaction of colliding seal wire bounding box and vascular wall triangle, the power that seal wire is subject to when colliding with vascular wall, and the friction force that can be subject to blood vessel;
2) stretchability of spring force restriction seal wire, obtains according to Hooke's law;
3) 2D bending force object keeps seal wire body to be straight shape and the original shape of wire tips, and its mechanics principle is based on Hooke's law;
4) 3D bending force is applied to for external force the response that wire tips makes, usually due to External Force Acting, the tip point of seal wire may go out to depart from original plane and cause not all point in the situation of same plane, point for seal wire body does not then have this consideration, because can move to arbitrary direction; In truth, the tip of seal wire must be in same plane; And 2D bending force can only ensure to keep between wire tips point initial angle, but being not enough to restriction wire tips point is in same plane; So in simulations, be the power of a some applying 3D of each wire tips;
Step (4), adaptively sampled to seal wire, in the initial test experience passed through repeatedly of seal wire simulation, provide the gap size between seal wire reference mark, but when seal wire moves in the blood vessel, need dynamic chek the need of carrying out adaptively sampled to seal wire; If the curvature of seal wire is very large but interval between reference mark is little not, to such an extent as to cannot represent the state that seal wire moves in the blood vessel accurately, so needs the splitting operation carried out in corresponding position a little, add two reference mark with Precise Representation seal wire; Similar, but when affecting counting yield when interval is large not between the very little reference mark of seal wire curvature, in order to reach real time modelling, need, in relevant position, two reference mark are merged into a reference mark.
2. the analogy method of the medical surgery apparatus seal wire based on spring proton model according to patent requirements 1, it is characterized in that: the method for building up of the seal wire model described in step 1, the seal wire of sweep is had in order to simulate tip, during initialization seal wire shape, tip portion shape is calculated, and initialization is carried out, to simulate the different physics material properties of wire tips and body to the parameter such as segment length, wire tips angle of bend initial between the stretch modulus of spring, bending modulus, ratio of damping, body particle.
3. the analogy method of the medical surgery apparatus seal wire based on spring proton model according to claim 1, it is characterized in that: the motion process simulation of the seal wire model described in step 1, in order in guide wire motion process, maintain most advanced and sophisticated curved shape, dose an inner 3D power, the principle of this power is in guide wire motion process, produce the face that wire tips remained on a little form with seal wire body the first two point and wire tips first point power in same plane, its mechanics ultimate principle is based on Hooke's law; During for seal wire rotation process, in order to strengthen authenticity, wire tips and body all carry out rotating and location updating.
4. the analogy method of the medical surgery apparatus seal wire based on spring proton model according to claim 1, it is characterized in that: the collision detection of the seal wire described in step 1 and response part, detect the method employing AABB bounding box, by setting up bounding box to the line segment on each triangle surface and seal wire and carry out crossing detection to judge whether colliding on GPU, if collided, carry out collision response, for collision response, to first point and the separately process of other collision responses of seal wire, to reach more real simulation effect.
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| CN109165419B (en) * | 2018-07-31 | 2022-07-15 | 哈尔滨工程大学 | Variable quality simulation device and method for motion operation |
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