Real-time simulation of contact and cutting of heterogeneous soft-tissues

Courtecuisse, Hadrien; Allard, Jérémie; Kerfriden, Pierre; Bordas, Stéphane Pierre Alain; Cotin, Stéphane; Duriez, Christian

doi:10.1016/j.media.2013.11.001

Cited by 136 publications

(134 citation statements)

References 76 publications

(91 reference statements)

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“…The second category involves more detailed haptic virtual model, such as scissors, and knives etc. However, the continuous contacts are very limited, and simplified deformable model is wrapped in high resolution texture mapping for better visual effect and fast haptic update rate [15,16,17,18]. Therefore, simulators in both groups leave out the discussion of correct force feedback.…”

Section: Related Workmentioning

confidence: 99%

Force Aware Haptic Rendering for Intubation Simulation

Meng¹,

2018

IJET

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We introduce a new haptic rendering method for neonatal endotracheal intubation simulation. The challenging procedure involves multiple models of different material properties, and is performed in the narrow oral cavity involving multiple contacts with tongue, lips, and laryngoscope. Our method first sets up simple collision detection mechanism with adaptive inner sphere tree structure for deformable tongue tissue. Then a collision response is handled with a novel force aware projective position correction. Our method is proved to be effective for heterogeneous simulation environment, therefore can be applied to surgical simulation with similar difficult settings.

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Section: Related Workmentioning

confidence: 99%

Force Aware Haptic Rendering for Intubation Simulation

Meng¹,

2018

IJET

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“…The cutting operation is performed on the tetrahedral meshes, while the visual collision mesh is updated accordingly. Many methods have been proposed, including element removal [10], element refinement [11,12], face-splits [13][14][15], node snapping [16], and their combinations [17,18]. The advantages of conformal mesh are that the cutting needs only to be considered on the tetrahedral mesh, and thus the complexity of updating the embedding between different meshes can be avoided.…”

Section: Cutting Of Conformal Meshmentioning

confidence: 99%

Interactive Cutting of Thin Deformable Objects

Weng

Sourin

2018

Symmetry

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Simulation of cutting is essential for many applications such as virtual surgical training. Most existing methods use the same triangle mesh for both visualization and collision handling, although the requirements for them in the interactive simulation are different. We introduce visual-collision binding between high-resolution visual meshes and low-resolution collision meshes, and thus extend the spatially reduced framework to support cutting. There are two phases in our framework: pre-processing and simulation. In the pre-processing phase, the fvisual-collision binding is built based on the computation of geodesic paths. In the simulation phase, the cutting paths are detected on the collision triangles and then mapped to local 2D coordinates systems in which the intersections between visual mesh and the cutting paths are calculated. Both collision and visual meshes are then re-meshed locally. The visual-collision binding is updated after cutting, based on which the collision-simulation and visual-simulation embedding are updated locally. Experimental results show that our cutting method is an efficient and flexible tool for interactive cutting simulation.

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“…Recent cutting-edge studies on real-time haptic rendering for interacting deformable objects have focused on efficient contact handling including collisions between multiple deformable objects and self-collisions [14,15]. They modeled contacts based on Signorini's law and Coulomb's law, and the linear or nonlinear complementarity problem needs to be solved.…”

Section: Collision Responsementioning

confidence: 99%

GPU-accelerated surgery simulation for opening a brain fissure

et al. 2015

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In neurosurgery, dissection and retraction are basic techniques for approaching the site of pathology. These techniques are carefully performed in order to avoid damage to nerve tissues or blood vessels. However, novice surgeons cannot train in such techniques using the haptic cues of existing training systems. This paper proposes a real-time simulation scheme for training in dissection and retraction when opening a brain fissure, which is a procedure for creating a working space before treating an affected area. In this procedure, spatulas are commonly used to perform blunt dissection and brain tissue retraction. In this study, the interaction between spatulas and soft tissues is modeled on the basis of a finite element method (FEM). The deformation of soft tissue is calculated according to a corotational FEM by considering geometrical nonlinearity and element inversion. A fracture is represented by removing tetrahedrons using a novel mesh modification algorithm in order to retain the manifold property of a tetrahedral mesh. Moreover, most parts of the FEM are implemented on a graphics processing unit (GPU). This paper focuses on parallel algorithms for matrix assembly and matrix rearrangement related to FEM procedures by considering a sparse-matrix storage format. Finally, two simulations are conducted. A blunt dissection simulation is conducted in real time (less than 20 ms for a time step) using a soft-tissue model having 4807 nodes and 19,600 elements. A brain retraction simulation is conducted using a brain hemisphere model having 8647 nodes and 32,639 elements with force feedback (less than 80 ms for a time step). These results show that the proposed method is effective in simulating dissection and retraction for opening a brain fissure.

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Real-time simulation of contact and cutting of heterogeneous soft-tissues

Cited by 136 publications

References 76 publications

Force Aware Haptic Rendering for Intubation Simulation

Force Aware Haptic Rendering for Intubation Simulation

Interactive Cutting of Thin Deformable Objects

GPU-accelerated surgery simulation for opening a brain fissure

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