血管微创介入手术视觉临场感技术分析-analysis of visual telepresence technology in minimally invasive vascular interventional surgery.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract Endovascular minimally invasive surgery (MIS) is a new kind of method to intervene medical catheter through blood vessel to perform the diagnosis and treatment. This kind of surgery has the merits of small wound, rapid recovery, safety and reliablility when compared with traditional open surgery. At present, MIS is implemented under the real-time X-ray image which is a 2 dimension projection map.Therefore, multiple vascular images overlapped and surgeons have to imagine the motion of catheter in the vessel. To solve this problem, our research team has developed an image navigation system. The three dimension vessel model in it was reconstructed from MRI, which can display the vessel structure clearly. The real-time catheter position and orientation information transmitted from the electromagnetic positioning tracking equipment. In real MIS environment, not only the position of catheter is changed real-timely, but also the vessel and blood is in dynamic state. So in this paper, based on the cardiovascular biodynamics, real-time dynamic vessel model has been constructed, then the visualization of the blood flow field has been researched and dynamic vector blood model and particle blood model have been built based on the field, which add visual telepresence function to the image navigation system. The composition and mechanics characteristic of the vessel, the pulse wave, the relationship between pulse wave and electrocardio signals and three kind of mathematics model of blood and vessel have been introduced, which have been the theoretical foundation of building the vessel and blood model. Dynamic vessel model has been built based on the pulse signals. Solution of sampling and transmitting pulse signals by cardiac cycle has been designed based on the synchronous relationship of the pulse wave and electrocardio wave. Simulation experiment has been done to validate the solution. Based on the sampling pulse signals, real-