Haptics-equiped interactive PCI simulation for patient-specific surgery training and rehearsing



Despite the long history of medical simulations, suffering from the patient-specific heterogeneous heart physiological structure and complex intravascular procedures, it is still challenging for patient-specific percutaneous coronary intervention (PCI) surgery simulation. In this paper, we advocate a haptics-equiped interactive prototype system towards PCI surgeons training and patient-specific surgery rehearsing, which can afford trainees the opportunity to approximately experience the entire PCI procedures and customized emergency cases that might occur in common clinical settings. The full simulation covers tissue deformation, catheter and wire simulation, X-ray simulation, haptic feedback, and 3D realistic rendering, which in all give rise to the integrated physical, visual, haptic, and procedural realism. Our system can accommodate various comprehensive operations involved in PCI-related procedures, including feeding wires, releasing stents, injecting contrast medium, simulating X-ray, bleeding, etc. Moreover, our system framework is fully built upon CUDA, and thus can achieve real-time performance even on a common desktop. The high-fidelity, real-time efficiency and stableness of our system show great potentials for its practical applications in clinical training fields.


1. 支持个性化病人的生理数据,做到针对特定病人进行手术规划和排练; 2. 基于位置动力学和弹簧系统混合模型的心血管系统的物理仿真; 3. 基于Cosserat理论的导丝和导管的物理仿真; 4. 基于光线投射的虚拟X光成像方法; 5. 支持完整手术过程的力触觉反馈硬件设备; 6. 以上所有算法都利用CUDA加速计算,保证了系统的可交互性能。

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Correspondence to Aimin Hao.

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Li, S., Xia, Q., Hao, A. et al. Haptics-equiped interactive PCI simulation for patient-specific surgery training and rehearsing. Sci. China Inf. Sci. 59, 103101 (2016). https://doi.org/10.1007/s11432-016-0264-3

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  • percutaneous coronary intervention (PCI)
  • PCI surgery simulation
  • patient-specific surgery rehearsing
  • physically-based modeling
  • haptics


  • 经皮冠状动脉介入手术,
  • 手术模拟,
  • 特定病人,
  • 手术排练,
  • 物理建模,
  • 力触觉
  • 103101