Augmented reality for cryoablation procedures

Talbot, Hugo; Roy, Frederick; Cotin, Stéphane

doi:10.1145/2787626.2792649

Cited by 2 publications

(2 citation statements)

References 3 publications

(3 reference statements)

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“…They can operate on a wide range of geometrical descriptions from 1D (curve) and 2D (surface mesh) to 3D (voxels, multi-resolution octrees [59] or hexahedral and tetrahedral mesh). They are capable of handling collisions and contacts precisely as well as to handle multi-physics behaviors [60], [61]. They are also capable of interacting with sensing hardware (Kinect, OptiTrack, LeapMotion) that are commonly used in robotics as well as with haptic devices [62].…”

Section: Simulating Soft Robotsmentioning

confidence: 99%

Software toolkit for modeling, simulation, and control of soft robots

et al. 2017

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Section: Simulating Soft Robotsmentioning

confidence: 99%

Software toolkit for modeling, simulation, and control of soft robots

et al. 2017

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“…They can operate on a wide range of geometrical descriptions from 1D (curve) and 2D (surface mesh) to 3D (voxels, multi-resolution octrees [28] or hexahedral and tetrahedral mesh). They are capable of handling collisions and contacts precisely as well as to handle multi-physics behaviors [29], [30]. They are also capable of interacting with sensing hardware (Kinect, OptiTrack, LeapMotion) that are commonly used in robotics as well as with haptic devices [31].…”

Section: Related Workmentioning

confidence: 99%

Framework for online simulation of soft robots with optimization-based inverse model

Duriez

Coevoet

Largillière

et al. 2016

2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

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Soft robotics is an emerging field of robotics which requires computer-aided tools to simulate soft robots and provide models for their control. Until now, no unified software framework covering the different aspects exists. In this paper, we present such a framework from its theoretical foundations up to its implementation on top of SOFA, an open-source framework for deformable online simulation. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators or contacts using a unified representation based on Lagrange multipliers. It enables the digital robot to be simulated in its environment using a direct model. The model can also be inverted online using an optimization-based method which allows to control the physical robots in the task space. To demonstrate the effectiveness of the approach, we present various soft robots scenarios including ones where the robot is interacting with its environment. The software is freely available from https://project.inria.fr/softrobot/

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Augmented reality for cryoablation procedures

Cited by 2 publications

References 3 publications

Software toolkit for modeling, simulation, and control of soft robots

Software toolkit for modeling, simulation, and control of soft robots

Framework for online simulation of soft robots with optimization-based inverse model

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