基于XPBD的微创冠脉旁路移植手术操作实时仿真  

XPBD-Based Real-Time Simulation Method for Minimally Invasive Coronary Artery Bypass Graft Surgery Operations

作　　者：李希轩 豆振浩 吴洪宇 Li Xixuan;Dou Zhenhao;Wu Hongyu(State Key Laboratory of Virtual Reality Technology&Systems,Beihang University,Beijing 100191)

机构地区：[1]北京航空航天大学虚拟现实技术与系统国家重点实验室,北京100191

出　　处：《计算机辅助设计与图形学学报》2024年第11期1842-1851,共10页Journal of Computer-Aided Design & Computer Graphics

基　　金：国家自然科学基金青年科学基金(61902014)。

摘　　要：微创冠脉旁路移植术(MICS-CABG)是外科治疗严重冠心病的重要发展方向,但其手术难度大、风险高,初学者无法直接对实际病人进行手术技能训练.基于虚拟现实技术的手术模拟训练能够有效地提高训练效果,避免手术风险.针对MICS-CABG的特点,提出一种扩展的基于位置动力学(XPBD)框架的微创冠脉旁路移植手术操作实时仿真方法.首先使用四面体外骨骼模型实现复杂心脏的物理形变,利用圆柱几何体表示手术器械物理模型;然后利用GPU并行加速XPBD仿真,利用冠脉中轴线建立Cosserat弹性杆模型的拉伸、剪切、弯曲、扭转约束,实现了冠脉的形变仿真;最后基于手术器械与心脏物理模型的碰撞检测,引入不嵌入约束与附着约束,生成工具与软组织交互的反馈力.实验结果表明,所提方法中手术器械模型与软组织交互变形实时稳定,在包含100 000个物理单元的场景中,仿真速率可达到60帧/s,力反馈仿真频率可达到1 kHz以上,视觉效果良好,有着较高的仿真效率.Minimally invasive coronary artery bypass grafting(MICS-CABG)is an important development in the surgical treatment of severe coronary artery disease,but MICS-CABG is difficult and risky,and trainees cannot directly train surgical skills in actual patients.The virtual reality-based surgical simulation training can effectively improve the training effect and avoid surgical risks.For the characteristics of MICS-CABG,we propose a real-time simulation method of minimally invasive coronary artery bypass grafting operation based on XPBD framework.A tetrahedral exoskeleton model is used to realize the physical deformation of the heart,and a cylindrical geometry is used to represent the physical model of the surgical instrument.Based on the GPU-accelerated XPBD simulation framework,we established the Cosserat constraints based on XPBD,using the coronary artery mid-axis to achieve the coronary artery deformation simulation,and used tetrahedral vol-ume constraints to achieve the heart deformation simulation.Furthermore,based on the collision detection be-tween the surgical instrument and the physical model of the heart,non-embedding constraints and attachment constraints were introduced to generate the feedback force for the interaction between the tool and the soft tis-sue.The experimental results show that the proposed method has high simulation efficiency and stability in real-time interaction between the surgical instrument model and soft tissue model.In the simulation scenario containing 100000 physical units,the simulation rate can reach 60frames/s.with the force feedback simulation frequency over 1 kHz,which can maintain a high-quality visual effect.

关 键 词：虚拟手术仿真 扩展的基于位置动力学 手术器械交互 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]