A realistic elastic rod model for real-time simulation of minimally invasive vascular interventions

Tang, Wen; Lagadec, Pierre; Gould, Debby; Wan, Tao; Zhai, Jianhua; How, T.V.

doi:10.1007/s00371-010-0442-1

Cited by 59 publications

(61 citation statements)

References 18 publications

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“…Methods based on mass-spring models, 29,30 finite elements 31 or discrete versions of the Elastic Kirchhoff Rod theory 32,33 have been proposed to simulate guidewire or catheter behaviour. CASCADE progresses the work by Konings et al who predict the behaviour of a guidewire by minimizing the joint energy of guidewire and surrounding vessel.…”

Section: Virtual Reality Environmentmentioning

confidence: 99%

Cognitive AutonomouS CAtheters Operating in Dynamic Environments

Poorten

Tran

Devreker

et al. 2016

J. Med. Robot. Res.

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Advances in miniaturized surgical instrumentation are key to less demanding and safer medical interventions. In cardiovascular procedures interventionalists turn towards catheter-based interventions, treating patients considered unfit for more invasive approaches. A positive outcome is not guaranteed. The risk for calcium dislodgement, tissue damage or even vessel rupture cannot be eliminated when instruments are maneuvered through fragile and diseased vessels. This paper reports on the progress made in terms of catheter design, vessel reconstruction, catheter shape modeling, surgical skill analysis, decision-making and control. These efforts are geared towards the development of the necessary technology to autonomously steer catheters through the vasculature, a target of the EU-funded project CASCADE (Cognitive AutonomouS CAtheters operating in Dynamic Environments). Whereas autonomous placement of an aortic valve implant forms the ultimate and concrete goal, the technology of individual building blocks to reach such ambitious goal is expected to be much sooner impacting and assisting interventionalists in their daily clinical practice.

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Section: Virtual Reality Environmentmentioning

confidence: 99%

Cognitive AutonomouS CAtheters Operating in Dynamic Environments

Poorten

Tran

Devreker

et al. 2016

J. Med. Robot. Res.

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“…In general, a softer WI (small flexural rigidity EI ) will have more points (a longer interval) in contact with the artery than a stiffer one (Alderliesten et al, 2007;Tang et al, 2010). Also, the shape of the artery will influence the number of collisions.…”

Section: Wire-artery Contactmentioning

confidence: 99%

Simulator for Minimally Invasive Vascular Interventions: Hardware and Software

Baier

Baier-Saip

Schilling

et al. 2016

Presence: Teleoperators and Virtual Environments

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In the present work, a simulation system is proposed that can be used as an educational tool by physicians in training basic skills of minimally invasive vascular interventions. In order to accomplish this objective, initially the physical model of the wire proposed by Konings has been improved. As a result, a simpler and more stable method was obtained to calculate the equilibrium configuration of the wire. In addition, a geometrical method is developed to perform relaxations. It is particularly useful when the wire is hindered in the physical method because of the boundary conditions. Then a recipe is given to merge the physical and the geometrical methods, resulting in efficient relaxations. Moreover, tests have shown that the shape of the virtual wire agrees with the experiment. The proposed algorithm allows real-time executions, and furthermore, the hardware to assemble the simulator has a low cost.

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“…Bergou et al (2010) later improve the efficiency in hair simulation by introduc-ing time-parallel reference frame in the representation of adapted framed curves. Other recent noteworthy articles (see for example Spillmann and Harders, 2010;Tang et al, 2010;Sueda et al, 2011, Huang et al, Tang et al, 2012bKir, 2014;Gornowicz and Borac, 2015 ) report on modeling discrete elastic rods with the Kirchhoff theory.…”

Section: Physical Based Simulationsmentioning

confidence: 99%

“…Traditional penalty based methods, which are the easiest to use, unfortunately suffer from various kinds of problems, such as jitter effect. Tang et al (2012a ) improve the penalty method and develop a novel model-continuous penalty force method for application to rigid body collisions. We adapt this approach for flexible rods here to handle the collision response.…”

Section: Simulation Of Plectoneme Formation and Tying Knotmentioning

confidence: 99%

“…The energy is sampled at each second. Collision response The other challenge lies in a simulation of tying knots is collision response algorithms, which can be classified into three major categories ( Tang et al, 2012a;Witkin, 1997 ): constraint-based formulations ( Bridson et al, 2002;Duriez et al, 20 06;Otaduy et al, 20 09 ), penalty-based methods ( Pen, 1990 ), and impulse-based methods ( Mirtich, 1996 ). In general, constraintbased methods result in a more plausible simulation at the cost of extra computation ( Hüsken, 2014;Bertails-Descoubes et al, 2011b ).…”

Section: Simulation Of Plectoneme Formation and Tying Knotmentioning

confidence: 99%

See 1 more Smart Citation

Real time simulation of inextensible surgical thread using a Kirchhoff rod model with force output for haptic feedback applications

Wang

Fratarcangeli

Ruimi

et al. 2017

International Journal of Solids and Structures

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International Journal of Solids and Structures (ISSN: 0020-7683)Citation for the published paper: Wang, Z. ; Fratarcangeli, M. ; Ruimi, A. et al. (2017) "Real time simulation of inextensible surgical thread using a Kirchhoff rod model with force output for haptic feedback applications". International Journal of Solids and Structures, http://dx.doi.org/10.1016/j.ijsolstr.2017.02.017Downloaded from: http://publications.lib.chalmers.se/publication/248860 Notice: Changes introduced as a result of publishing processes such as copy-editing and formatting may not be reflected in this document. For a definitive version of this work, please refer to the published source. Please note that access to the published version might require a subscription.Chalmers Publication Library (CPL) offers the possibility of retrieving research publications produced at Chalmers University of Technology. It covers all types of publications: articles, dissertations, licentiate theses, masters theses, conference papers, reports etc. Since 2006 it is the official tool for Chalmers official publication statistics. To ensure that Chalmers research results are disseminated as widely as possible, an Open Access Policy has been adopted. The CPL service is administrated and maintained by Chalmers Library.(article starts on next page)International Journal of Solids and Structures 113-114 (2017) 192-208 Contents lists available at ScienceDirect a b s t r a c tWe discuss the dynamics of an inextensible thin Kirchhoff rod used in the modeling of surgical threads, and demonstrate a very efficient scheme to not only simulate the motion of the thread in real-time (up to 1 ms per frame) but also obtain the constraint axial forces which can be fed back to a haptic system. The numerical scheme is based on a family of schemes called geometric or discrete variational integrators guaranteeing that the momentum and energy are exactly conserved over long periods of time for conservative systems. Besides, we report on an efficient numerical procedure to handle the inextensibility of the thread through physically based Lagrange multipliers, as well as the internal dissipation of the thread. We have performed simulations to verify the capabilities of our model to conserve momentum and energy, accurately calculate the axial constraint forces along the thread for haptic feedback, and capture bending-torsion coupling leading to the formation of plectonemes. While many of the ideas are well known in the computer graphics community (especially in hair modeling), we have implemented several improvements for the specific purpose of speeding up the computations for developing physically based haptic interfaces for knot tying and suturing.

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A realistic elastic rod model for real-time simulation of minimally invasive vascular interventions

Cited by 59 publications

References 18 publications

Cognitive AutonomouS CAtheters Operating in Dynamic Environments

Cognitive AutonomouS CAtheters Operating in Dynamic Environments

Simulator for Minimally Invasive Vascular Interventions: Hardware and Software

Real time simulation of inextensible surgical thread using a Kirchhoff rod model with force output for haptic feedback applications

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