title: Virtual-Reality Simulator System for Double Interventional Cardiac Catheterization Using Fractional-Order Vascular Access Tracker and Haptic Force Producer.
abstract: This study proposes virtual-reality (VR) simulator system for double interventional cardiac catheterization (ICC) using fractional-order vascular access tracker and haptic force producer. An endoscope or a catheter for diagnosis and surgery of cardiovascular disease has been commonly used in minimally invasive surgery. It needs specific skills and experiences for young surgeons or postgraduate year (PGY) students to operate a Berman catheter and a pigtail catheter in the inside of the human body and requires avoiding damaging vessels. To improve the training in inserting catheters, a double-catheter mechanism is designed for the ICC procedures. A fractional-order vascular access tracker is used to trace the senior surgeons' consoled trajectories and transmit the frictional feedback and visual feedback during the insertion of catheters. Based on the clinical feeling through the aortic arch, vein into the ventricle, or tortuous blood vessels, haptic force producer is used to mock the elasticity of the vessel wall using voice coil motors (VCMs). The VR establishment with surgeons' consoled vessel trajectories and hand feeling is achieved, and the experimental results show the effectiveness for the double ICC procedures.
authors.affiliation: Department of Biomedical Engineering, National Cheng Kung University, Tainan City 70101, Taiwan.
authors.forename: Guan-Chun
authors.initials: GC
authors.lastname: Chen
authors.affiliation: Department of Electrical Engineering, Kao Yuan University, Kaohsiung City 82151, Taiwan.
authors.forename: Chia-Hung
authors.initials: CH
authors.lastname: Lin
authors.affiliation: Division of Infectious Diseases, Department of Medicine of Chi Mei Medical Center, Tainan City 71004, Taiwan.
authors.forename: Chien-Ming
authors.initials: CM
authors.lastname: Li
authors.affiliation: Kaohsiung Chang Gung Memorial Hospital, Kaohsiung City 833, Taiwan.
authors.forename: Kai-Sheng
authors.initials: KS
authors.lastname: Hsieh
authors.affiliation: Department of Electrical Engineering, Southern Taiwan University of Science and Technology, Tainan City 71005, Taiwan.
authors.forename: Yi-Chun
authors.initials: YC
authors.lastname: Du
authors.affiliation: Department of Biomedical Engineering, National Cheng Kung University, Tainan City 70101, Taiwan.
authors.forename: Tainsong
authors.initials: T
authors.lastname: Chen
mesh_terms: D000465:Algorithms; D000792:Angiography; D006328:Cardiac Catheterization / Q000295:instrumentation / Q000379:methods; D062906:Cardiac Catheters; D002318:Cardiovascular Diseases / Q000000981:diagnostic imaging / Q000601:surgery; D003198:Computer Simulation; D006801:Humans; D007091:Image Processing, Computer-Assisted; D019060:Minimally Invasive Surgical Procedures; D015203:Reproducibility of Results; D014584:User-Computer Interface