Purpose: Developing and testing a framework that integrates real-time catheter shape reconstruction, interactive simulations, and mixed reality visualization to enable accurate monitoring of catheter-vessel interactions during endovascular navigation. Methods: A finite element model (FEM) of the venous pathway from the right femoral vein to the inferior vena cava was generated from computed tomography data and implemented into an interactive simulation. Catheter motion was imposed as boundary condition, and catheter-vessel contact was modeled with a Lagrange multiplier formulation to compute vessel deformation. The framework was tested in-vitro using a sensorized catheter with Fiber Bragg Grating and electromagnetic sensors as it was advanced through a silicone replica of the vascular anatomy. Real-time sensor read-outs fed the simulation, and the updated catheter and vessel geometries were streamed to Hololens 2. The performance and accuracy of FEM-computed vessel wall displacement were validated against experimental ground-truth obtained via stereo frames triangulation. Results: The simulated time exceeded the real temporal extent by 12% during initial navigation and by 45% when the catheter reached the most tortuous portion. Hololens 2 rendering remained stable at 35-40 frames per second. The median relative displacement error between FEM-computed and ground-truth vessel wall displacements remained below 1 mm and 2.33 mm for these two phases, respectively. Conclusion: The study demonstrates the feasibility of integrating interactive biomechanical simulation with real-time sensor data to enable continuous monitoring of catheter-vessel interactions, with mixed reality visualization serving as a user interface to support operator decision-making.

翻译：目的：开发并测试一个集成导管实时形态重建、交互式仿真与混合现实可视化的框架，以实现血管内导航过程中导管-血管相互作用的精确监测。方法：基于计算机断层扫描数据建立从右侧股静脉至下腔静脉的静脉通路有限元模型，并将其嵌入交互式仿真。将导管运动设为边界条件，采用拉格朗日乘子法对导管-血管接触进行建模以计算血管变形。通过配备光纤布拉格光栅与电磁传感器的传感化导管在硅胶血管解剖复制品中推进的实验，对框架进行体外测试。实时传感器读数驱动仿真，更新后的导管与血管几何数据流式传输至HoloLens 2。通过立体帧三角测量获得的实验真值验证有限元计算血管壁位移的性能与精度。结果：在导航初始阶段，仿真时间超出实际时间12%；当导管到达最迂曲部位时，该比例增至45%。HoloLens 2渲染帧率稳定在35~40帧/秒。在上述两个阶段中，有限元计算值与实验真值的血管壁位移中位相对误差分别低于1毫米和2.33毫米。结论：本研究验证了将交互式生物力学仿真与实时传感器数据集成以实现导管-血管相互作用持续监测的可行性，其中混合现实可视化作为用户界面可辅助操作者决策。