A fast and stable guidewire model for minimally invasive vascular surgery based on Lagrange multipliers

摘要

The simulator based on interactive virtual reality can solve many drawbacks in traditional surgery training, and it is widely used to train apprentices. A real-time and realistic guidewire model is a challenging task for the simulator, which is used to simulate minimally invasive vascular surgery. In this paper, we propose a fast and stable physical model to simulate the behavior of the guidewire. And Cosserat theory of elastic rods is used to simulate the bending and twisting of the guidewire, the inextensibility of which is maintained with Lagrange multipliers. Then an operation method is proposed to control the virtual guidewire effectively. Finally, some experiments are conducted to demonstrate the effectiveness of our guidewire model and the operation method.