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This article describes the simulation of real-time catheter navigation in our interactive interventional cardiology simulation system (ICard). ICard is designed to enable medical students or physicians to familiarize themselves with the techniques of interventional catheterization procedures. The ICard software provides three-dimensional (3-D) views of the blood vessels and fluoroscopic images for real-time visualization of the catheter position. The 3-D human vasculature is built from various image data sets and is represented with a central line hierarchy model. Navigation of the catheter and guide wire and their interaction with blood vessels are implemented by applying the finite element method. Physical modeling that features the elasticity of the catheter and guide wire was developed to provide a realistic simulation of catheterization procedures. An electromechanical device was also developed in the system, allowing physical manipulation of catheter and guide wire movements. ICard can be used for training and design of equipment for interventional cardiology and may be further extended for pretreatment planning.
Wang et al. (1998) studied this question.