A Training System for Vascular Interventional Surgeons based on Local Path Planning

Abstract

Because the internal environment of the blood vessels in the brain is complex, and the cerebrovascular itself is very fragile, the catheter and guide wire are easy to puncture the cerebrovascular in the process of cerebrovascular interventional surgery, which brings great harm to patients. In order to reduce the number of collisions between catheter and guide wire with vascular wall and improve the safety of surgery. This paper proposes a local dynamic path planning based physician training system for vascular interventional surgery. The system uses the improved rapidly-exploring random tree (RRT) algorithm to plan the real-time local path of the catheter guide wire in the vascular interventional surgeon training system. Experimental results show that the algorithm has fast convergence speed and makes the planned path closer to the optimal path.