Construction of 3D vessel model of the VR Robotic Catheter System

摘要

Minimally Invasive Surgery (Minimally Invasive Surgery, MIS) is a specialized surgical technique that permits vascular interventions through very small incisions and minimizes the patients' trauma and permits a faster recovery compared to traditional surgery. In this paper, we will introduce a kind of Virtual Reality based Robotic Catheter System which can be used for the training of the interns to do the operation. First of all, we design the robot assisted catheter surgery system which is consist of master controller system and the catheter manipulator placed at the patient side. For the VR system, we use the master side as the controller, and we developed the Virtual Reality based Robotic Catheter System, in the system, open source code DCMTK is used to read the information of "DCM" file and carry out the CT image segmentation and Open Scene Graph (OSG) is used to realize the 3D image output and catheter control of the Virtual Reality System. Finally, we complete the simulation of catheter control by the Virtual Reality based Robotic Catheter System.