Abstract: In a preferred embodiment, medical apparatus comprising a catheter (12) which operable to be inserted into a human subject (10) is disclosed herein. Haptic sensors (22, 24) and deformation sensors (26, 27) are connected to the catheter (12) and these are disposed at a plurality of locations along the length of the catheter (12). The haptic sensors measures 3D forces (18) acting on the catheter (12) at the disposed locations and these forces are provided to a haptic feedback device (14) which provides haptic feedback to, an interventional radiologist. The deformation sensors (26, 27) on the other hand, measures the deformation of the catheter (12) at the disposed locations and this information determines the shape of the catheter (12) which is represented on a display (16) for viewing by the radiologist.

Abstract: Methods of modeling anatomical structures, along with pathology including the vasculature, spine and internal organs, for visualization and manipulation in simulation systems. A representation of on the human vascular network is built up from medical images and a geometrical model produced therefrom by extracting topological and geometrical information. The model is constructed using topological and geometrical information. The model is constructed using segments containing topology structure information, flow domain information contour domain information and skeletal domain information. A realistic surface is then applied to the geometric model, by generating a trajectory along a central axis of the geometric model, conducting moving trihedron modeling along the generated trajectory and then creating a sweeping surface along the trajectory.