In breast surgical practice, drawing is part of the preoperative planning procedure and is essential for a successful operation. In this study, we design a pipeline to assist surgeons with patient-specific breast surgical drawings. We use a deformable torso model containing the surgical patterns to match any breast surface scan. To be compatible with surgical timing, we build an articulated model through a skinning process coupled with shape deformers to enhance a fast registration process. On one hand, the scalable bones of the skinning account for pose and morphological variations of the patients. On the other hand, pre-designed artistic blendshapes create a linear space for guaranteeing anatomical variations. Then, we apply meaningful constraints to the model to find a trade-off between precision and speed. The experiments were conducted on 7 patients, in 2 different poses (prone and supine) with a breast size ranging from 36A and 42C (US/UK bra sizing). The acquisitions were obtained using the depth camera Structure Sensor, and the breast scans were acquired in less than 1 minute. The result is a registration method converging within a few seconds (3 maximum), reaching a Mean Absolute Error of 2.3 mm for mesh registration and 8.0 mm for breast anatomical landmarks. Compared to the existing literature, our model can be personalized and does not require any database. Finally, our registered model can be used to transfer surgical reference patterns onto any patient in any position.
In this paper we develop a framework for solving inverse deformation problems using the FEniCS Project finite-element software. We validate our approach with experimental imaging data acquired from a soft silicone beam under gravity. In contrast with inverse iterative algorithms that require multiple solutions of a standard elasticity problem, the proposed method can compute the undeformed configuration by solving only one modified elasticity problem. This modified problem has a complexity comparable to the standard one. The framework is implemented within an open-source pipeline enabling the direct and inverse deformation simulation directly from imaging data. We use the high-level unified form language (UFL) of the FEniCS Project to express the finite-element model in variational form and to automatically derive the consistent Jacobian. Consequently, the design of the pipeline is flexible: for example, it allows the modification of the constitutive models by changing a single line of code. We include a complete working example showing the inverse deformation of a beam deformed by gravity as supplementary material.
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