Position-based dynamics simulator of vessel deformations for path planning in robotic endovascular catheterization

Position-based dynamics simulator of vessel deformations for path planning in robotic endovascular catheterization

Li, Z. (TU Delft Medical Instruments & Bio-Inspired Technology; Politecnico di Milano)
Manzionna, Enrico (Politecnico di Milano)
Monizzi, Giovanni (IRCCS)
Mastrangelo, Angelo (IRCCS)
Mancini, Maria Elisabetta (IRCCS)
Andreini, Daniele (University of Milan; IRCCS)
Dankelman, J. (TU Delft Medical Instruments & Bio-Inspired Technology)
De Momi, Elena (Politecnico di Milano)

2022

A major challenge during autonomous navigation in endovascular interventions is the complexity of operating in a deformable but constrained workspace with an instrument. Simulation of deformations for it can provide a cost-effective training platform for path planning. Aim of this study is to develop a realistic, auto-adaptive, and visually plausible simulator to predict vessels’ global deformation induced by the robotic catheter's contact and cyclic heartbeat motion. Based on a Position-based Dynamics (PBD) approach for vessel modeling, Particle Swarm Optimization (PSO) algorithm is employed for an auto-adaptive calibration of PBD deformation parameters and of the vessels movement due to a heartbeat. In-vitro experiments were conducted and compared with in-silico results. The end-user evaluation results were reported through quantitative performance metrics and a 5-Point Likert Scale questionnaire. Compared with literature, this simulator has an error of 0.23±0.13% for deformation and 0.30±0.85mm for the aortic root displacement. In-vitro experiments show an error of 1.35±1.38mm for deformation prediction. The end-user evaluation results show that novices are more accustomed to using joystick controllers, and cardiologists are more satisfied with the visual authenticity. The real-time and accurate performance of the simulator make this framework suitable for creating a dynamic environment for autonomous navigation of robotic catheters.

Deformable Environment
Intervention
Medical Robotics
Optimization
Simulation
Steerable Catheter

http://resolver.tudelft.nl/uuid:d0d8fa7f-81bb-43ef-b883-8cd63a36a552

https://doi.org/10.1016/j.medengphy.2022.103920

2023-05-11

1350-4533

Medical Engineering & Physics, 110

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

journal article

© 2022 Z. Li, Enrico Manzionna, Giovanni Monizzi, Angelo Mastrangelo, Maria Elisabetta Mancini, Daniele Andreini, J. Dankelman, Elena De Momi