Data-driven weight optimization for real-time mesh deformation

3D model deformation has been an active research topic in geometric processing. Due to its efficiency, linear blend skinning (LBS) and its follow-up methods are widely used in practical applications as an efficient method for deforming vector images, geometric models and animated characters. LBS needs to determine the control handles and specify their influence weights, which requires expertise and is time-consuming. Further studies have proposed a method for efficiently calculating bounded biharmonic weights of given control handles which reduces user effort and produces smooth deformation results. The algorithm defines a high-order shape-aware smoothness function which tends to produce smooth deformation results, but fails to generate locally rigid deformations. To address this, we propose a novel data-driven approach to producing improved weights for handles that makes full use of available 3D model data by optimizing an energy consisting of data-driven, rigidity and sparsity terms, while maintaining its advantage of allowing handles of various forms. We further devise an efficient iterative optimization scheme. Through contrast experiments, it clearly shows that linear blend skinning based on our optimized weights better reflects the deformation characteristics of the model, leading to more accurate deformation results, outperforming existing methods. The method also retains real-time performance even with a large number of deformation examples. Our ablation experiments also show that each energy term is essential

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not