As the No. 1 killer around the world, cardiovascular disease (CVD) has been jeopardizing human health for years. Minimally invasive vascular surgery (MIVS) is an important procedure to cure patients with vascular diseases. During MIVS surgeons insert catheters and other long flexible instruments into the vascular percutaneously and steer them from the outside to reach and treat the lesion target under the guidance of medical imaging modalities. MIVS has the advantages of less pain, smaller physical trauma and shorter hospital stay over conventional open surgery. But in traditional training, novice surgeons need to observe the entire procedure performed by experienced surgeons and take large amounts of practice on animals which keeps trainees under the exposure to fluoroscopy and is rather costly. Virtual reality (VR) based surgery training can help trainees accomplish the training tasks and enhance performance in procedure by providing simulated surgical scenes and interaction devices. VR simulators play an important roll in MIVS training with their advantages of low training expense, total immersion and no exposure to fluoroscopy. This work is supported by the National Natural Science Foundation of China: ``vessel and guide wire modeling in virtual interventional surgery training system'' (Grant: 61203318). This dissertation focuses on some key issues of designing a MIVS training system, such as surgical instruments simulation and haptic rendering. Firstly, a novel MIVS training system is designed for percutaneous coronary intervention (PCI). The training system is composed of simulated surgical scenes, force feedback module and visual interaction module. Based on an open source medical simulation architecture, the designed surgical scenes contain 3D vasculatures derived from real patients and physics-based models of flexible surgical instruments. The trainees can use a haptic device designed by our research group to control the surgical instruments. Two major procedures including the catheter delivery and the guide wire delivery are simulated. Secondly, finite element method (FEM) is applied to simulate catheters and guide wires which are two kinds of commonly used instruments. According to the instruments' real physical parameters and shapes, the simulations of the physics-based models run in real time and show realistic behaviors. Thirdly, efficient collision detection algorithm and collision response algorithm are designed. The collision algori...
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