A Virtual Reality Based Simulator for Training Surgical Skills in Procedure of Catheter Ablation

We present a VR-based simulator built for training surgical skills in the procedure of catheter ablation. Based on multi-body dynamics, we proposed a novel method to simulate the interactive behavior of the surgical devices and the human vascular system. An estimation based optimization technique and a track based motion control strategy are proposed to make the simulation efficient enough to achieve high level performance. The beating of human heart is also simulated in real time with our method within the position based dynamics framework. Results demonstrate that our simulator provides a realistic, effective, and stable environment for trainees to acquire essential surgical skills.