XPBD-Based Real-Time Simulation Method for Minimally Invasive Coronary Artery Bypass Graft Surgery Operations
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 100 000 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.
virtual surgery simulationextended position-based dynamicssurgical instrument interaction
万方数据
维普
