IVRSurglcal Simulator forEndovascular Intervention

ofcases. Thisisalso trueformedical robots anddevices, Inthispaper, wepropose amethodtoreproduce fluo- andthese tools havetobeevaluated withvariety ofvasroscopic imagewhichisutilized duringendovascularcular conditions togiveexpected performance incrinical surgery process, without using x-raying byintroducingusesage [6][7]. However, simple cylindrical madeofplasaugmented reality technique, forconstructing anendo- ticorglass tubesandanimals (mostly pig)arewidely vascular simulator comprised ofaninvitropatient-utlized asaplatform forthese simulation purposes. And specific bloodvessel model.Toreproduce thefluoro- thesesituation makesitdifficult toimprove surgical scopic image, proposed methodfirstly matchesthere- skills andtheperformance ofmedical devices, because fraction indexofthebloodvessel modeltothatofcir- vascular configuration andphysical property ofthese are cumferential material (glycerin solution) tomakethe verydifferent fromhumanartery [8-18]. vascular modelinvisible andgenerate acondition sim- Toresolve thisproblem, wehadproposed invitro pailartox-rayimage,thenaddbackground imageand tient-specific anatomical models ofhumancerebral artery otherinformation byusingAR.Thismethodallows since 2001, firstly asacubic-shaped construction hollowreproducing several medical imaging techniques, such lyreproducing vascular lumeninside it[20], secondly as asDSA (digital subtraction angiography) technique amembranous configuration whichreproduce thebehavandvascular roadmappingtechniques, whichareuti- ioroftruevasculature [21], andthirdly asaconfiguration lized during endovascular surgery foreasyimagerec- comprise ofvascular membraneandcircumferencial ognition. Consequently itallows reproducing compre- brain-like structure whichreproduce visco-elastic behavhensive surgical process, whichisnotlimited tojust iorofcerebral artery [22]. Thesemodels wereconstructoperating medical tools inside bloodvessel. Herethe edfromCT andMRI information with13mm modeling bloodvessel modelreproduces patient-specific vascular resolution. Andthenwepropose anovelmethodtoeustructure at13mm resolution, anditalsoreproducesqntitatively evaluate stress onvasculature wallapplyed by physical properties ofarterial tissue, andthusital- surgical operations andbloodstearming during endovaslowsreproducing surgical feeling andthebehavior of cular intervention. Itallows quantitatively evaluate the operated surgical tools. Consequently presented meth- performance ofsurgical robots /tools andsurgical proceodshouldbehelpful fordoctors formakingsurgicalduresinreal-time. However, thissurgical simulator training without animaltesting. lacked thereproduction ofIVR(Interventional Radiology) surgical modality thatisveryimportant aspect ofthis