Interactive catheter shape modeling in interventional radiology simulation

Vascular catheterization provides a less invasive, non-surgical approach for treatment of vascular diseases. Although preformed catheters with diverse shapes and specific features are commonly available, clinicians still often use devices such as mandrels to modify the shape of catheters at the time of the clinical procedure. In this paper, we describe catheter shape modeling techniques. The purpose of catheter shape modeling is to provide clinicians with a means to modify catheter shape using a computer, and to practice catheterization procedures with this modified catheter on a computer based interventional radiology simulation system. We have proposed a 2-level design approach with the support of shapes and properties databases. In the first level, the shape of catheter is defined as a series of smoothly joined element segments. In the second level, we introduce catheter shaping algebraic operations recursively on the segments including merging, splitting, inserting and removing. We present our results by demonstrating the creation of right coronary artery catheters for different size and shape of aortic roots. The correctness of these catheters is validated with our catheter navigation simulator.