Technical Section: A geometric approach to the modeling of the catheter-heart interaction for VR simulation of intra-cardiac intervention

  • Authors:
  • Patricia Chiang;Yiyu Cai;Koon Hou Mak;Ei Mon Soe;Chee Kong Chui;Jianmin Zheng

  • Affiliations:
  • School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore;Institute for Media Innovation and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore;Mak Heart Clinic and School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore;School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore;Department of Mechanical Engineering, National University Singapore, Singapore 119077, Singapore;School of Computer Engineering, Nanyang Technological University, Singapore 639798, Singapore

  • Venue:
  • Computers and Graphics
  • Year:
  • 2011

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Abstract

Cardiac intervention is a minimally invasive diagnostic and therapeutic procedure used to treat cardiac diseases. The mapping of heart geometry with minimal visual assistance presents a technical challenge for interventional cardiologists attempting catheter navigation. This paper presents a geometric approach to modeling the catheter-heart interaction for VR simulations of catheter navigation within a heart chamber. Three types of modeling are used to model the interaction between the catheter and the heart wall: non-slip, pseudo-slip and slip modeling. A two-step shape memory process that minimizes the bending of and strain on the catheter is designed for catheter deformation for non-slip or pseudo-slip contact, and a progressive group linkage bending process that constrains the catheter curvature and position within the volume enclosure is designed for catheter deformation for slip contact. The proposed model is consistent with the observations made during the experiment. The model is able to deform the catheter in any free-state shape within the volume enclosure and is independent of local motion increment. Thus, it presents advantages in terms of complexity and real-time requirements.