title: A computer-based real-time simulation of interventional radiology.
abstract: Interventional radiology is a minimally invasive procedure where thin instruments, guidewires and catheters or stents are steered through the patient's vascular system under X-ray imaging for treatment of vascular diseases. The complexity of these procedures makes training in order to master hand-eye coordination, instrument manipulation and procedure protocols for each radiologist mandatory. In this paper, we present a computer-based real-time simulation of interventional radiology procedures, which deploys a very efficient physics-based thread model to simulate the elastic behavior of guidewires and catheters. A fast collision detection scheme provides continuous collision response, which reveals more details of arterial walls than a centerline approach. Furthermore rendering techniques for realistic X-ray effect have been implemented. Our simulation structure is updated at a haptic rate of 500 Hz, thus contributing to physical realism.
authors.affiliation: Laboratoire de Systèmes Robotiques, Ecole Polytechnique Fédérale de Lausanne (EPFL), Switzerland. fei.wang@epfl.ch
authors.forename: F
authors.initials: F
authors.lastname: Wang
authors.forename: L
authors.initials: L
authors.lastname: Duratti
authors.forename: E
authors.initials: E
authors.lastname: Samur
authors.forename: U
authors.initials: U
authors.lastname: Spaelter
authors.forename: H
authors.initials: H
authors.lastname: Bleuler
mesh_terms: D000465:Algorithms; D001842:Bone and Bones; D002404:Catheterization; D003198:Computer Simulation; D003201:Computers; D004867:Equipment Design; D006801:Humans; D021621:Imaging, Three-Dimensional; D008953:Models, Anatomic; D008962:Models, Theoretical; D010825:Physics / Q000295:instrumentation* / Q000379:methods; D015642:Radiology, Interventional / Q000295:instrumentation* / Q000379:methods; D013997:Time Factors; D014584:User-Computer Interface; D014965:X-Rays