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实时导管形态重建、交互式模拟和混合现实可视化的框架，以在血管内导航过程中实现导管-血管相互作用的精确监测。方法：基于计算机断层扫描数据生成从右股静脉到下腔静脉的静脉通路有限元模型，并将其集成到交互式模拟中。将导管运动作为边界条件施加，采用拉格朗日乘子公式对导管-血管接触进行建模以计算血管变形。使用带有光纤布拉格光栅和电磁传感器的传感导管，在血管解剖结构的硅胶复制模型中进行体外测试。实时传感器读数输入模拟，更新后的导管和血管几何结构传输至Hololens 2。通过立体帧三角测量获得的实验真实值，验证了有限元模型计算血管壁位移的性能和精度。结果：在初始导航阶段，模拟时间超过实际时间12%；当导管到达最曲折部分时，超出45%。Hololens 2渲染稳定在35-40帧/秒。在这两个阶段，有限元模型计算与真实血管壁位移之间的中位相对位移误差分别低于1毫米和2.33毫米。结论：本研究证明了将交互式生物力学模拟与实时传感器数据集成以实现导管-血管相互作用的连续监测的可行性，其中混合现实可视化作为用户界面支持操作者决策。