Preconditioner-Based Contact Response and Application to Cataract Surgery

International audienceIn this paper we introduce a new method to compute, in real-time, the physical behavior of several colliding soft-tissues in a surgical simulation. The numerical approach is based on finite element modeling and allows for a fast update of a large number of tetrahedral elements. The speed-up is obtained by the use of a specific preconditioner that is updated at low frequency. The preconditioning enables an optimized computation of both large deformations and precise contact response. Moreover, homogeneous and inhomogeneous tissues are simulated with the same accuracy. Finally, we illustrate our method in a simulation of one step in a cataract surgery procedure, which require to handle contacts with non homogeneous objects precisely

Control of Elastic Soft Robots based on Real-Time Finite Element Method

International audienceIn this paper, we present a new method for the control of soft robots with elastic behavior, piloted by several actuators. The central contribution of this work is the use of the Finite Element Method (FEM), computed in real-time, in the control algorithm. The FEM based simulation computes the nonlinear deformations of the robots at interactive rates. The model is completed by Lagrange multipliers at the actuation zones and at the end-effector position. A reduced compliance matrix is built in order to deal with the necessary inversion of the model. Then, an iterative algorithm uses this compliance matrix to find the contribution of the actuators (force and/or position) that will deform the structure so that the terminal end of the robot follows a given position. Additional constraints, like rigid or deformable obstacles, or the internal characteristics of the actuators are integrated in the control algorithm. We illustrate our method using simulated examples of both serial and parallel structures and we validate it on a real 3D soft robot made of silicon

Workshop on Soft and Stiffness-Controllable Robots for Minimally Invasive Surgery

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A (Near) Real-Time Simulation Method of Aneurysm Coil Embolization

International audienceA (Near) Real-Time Simulation Method of Aneurysm Coil Embolizatio

Simulation of Air Puff Tonometry Test Using Arbitrary Lagrangian-Eulerian (ALE) Deforming Mesh for Corneal Material Characterisation

Purpose: To improve numerical simulation of the non-contact tonometry test by using Arbitrary Eulerian-Lagrangian deforming mesh in the coupling between computational fluid dynamics model of an air jet and finite element model of the human eye. Methods: Computational fluid dynamics model simulated impingement of the air puff and consisted of 25920 wedge6 elements and employed Spallart-Allmaras model to simulate capture turbulence of the air jet. The time span of the jet wais 30 ms and maximum Reynolds numbe

SOFA: A Multi-Model Framework for Interactive Physical Simulation

International audienceSOFA (Simulation Open Framework Architecture) is an open-source C++ library primarily targeted at interactive computational medical simulation. SOFA facilitates collaborations between specialists from various domains, by decomposing complex simulators into components designed independently and organized in a scenegraph data structure. Each component encapsulates one of the aspects of a simulation, such as the degrees of freedom, the forces and constraints, the differential equations, the main loop algorithms, the linear solvers, the collision detection algorithms or the interaction devices. The simulated objects can be represented using several models, each of them optimized for a different task such as the computation of internal forces, collision detection, haptics or visual display. These models are synchronized during the simulation using a mapping mechanism. CPU and GPU implementations can be transparently combined to exploit the computational power of modern hardware architectures. Thanks to this flexible yet efficient architecture, \sofa{} can be used as a test-bed to compare models and algorithms, or as a basis for the development of complex, high-performance simulators

Vascular neurosurgery simulation with bimanual haptic feedback

International audienceVirtual surgical simulators face many computational challenges: they need to provide biophysical accuracy, realistic feed-backs and high-rate responses. Better biophysical accuracy and more realistic feed-backs (be they visual, haptic.. .) induce more computational footprint. State-of-the-art approaches use high-performance hardware or find an acceptable trade-off between performance and accuracy to deliver interactive yet pedagogically relevant simulators. In this paper, we propose an interactive vascular neurosurgery simulator that provides bi-manual interaction with haptic feedback. The simulator is an original combination of states-of-the-art techniques that allows visual realism, bio-physical realism, complex interactions with the anatomical structures and the instruments and haptic feedback. Training exercises are also proposed to learn and to perform the different steps of intracranial aneurysm surgery (IAS). We assess the performance of our simulator with quantitative performance benchmarks and qualitative assessments of junior and senior clinicians

Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues

International audienceThis paper introduces a new method for automatic robotic needle steering in deformable tissues. The main contribution relies on the use of an inverse Finite Element (FE) simulation to control an articulated robot interacting with deformable structures. In this work we consider a flexible needle, embedded in the end effector of a 6 arm Mitsubishi RV1A robot, and its insertion into a silicone phantom. Given a trajectory on the rest configuration of the silicone phantom, our method provides in real-time the displacements of the articulated robot which guarantee the permanence of the needle within the predefined path, taking into account any undergoing deformation on both the needle and the trajectory itself. A forward simulation combines i) a kinematic model of the robot, ii) FE models of the needle and phantom gel iii) an interaction model allowing the simulation of friction and puncture force. A Newton-type method is then used to provide the displacement of the robot to minimize the distance between the needle's tip and the desired trajectory. We validate our approach with a simulation in which a virtual robot can successfully perform the insertion while both the needle and the trajectory undergo significant deformations

Modelling of soft tissue and fluid structure interaction with physiological applications

Mathematical modelling is an essential and convenient tool to understand the systemic mechanism of human bodies and to assist the diagnosis and/or the treatment of various diseases. The main objective of this thesis is to develop soft tissue mechanics models and use these to address a number of particular clinical topics, namely, the human iris, the artery and the mitral valve. Important modelling aspects such as fluid-structure interaction, fibre reinforcement, material anisotropy and organ-organ interaction are included. To avoid the acute closed-angle glaucoma and the buckling of floppy iris syndrome in Descemet’s stripping endothelial keratoplasty, three-dimensional linear human iris is studied and the intraocular pressure is found to be a critical factor in determining the involving complications. Human arteries usually consist of two or more families of collagen fibres in each of the three distinct layers (the intima, the media and the adventitia). One challenge is to explain the recent experimental observation that only one family of (circumferential) fibres exists in the media of the iliac artery. Using an invariant-based fibre-reinforced nonlinear constitutive model, we are able to provide a plausible explanation from the mechanics viewpoint, and show that such fibre architecture achieves the optimal energy or stress distributions. We also find that the axial pre-stretch plays a vital role in different fibre structures. We finally develop a patient-specific human mitral valve model using the immersed boundary finite element method. A major advantage of this approach is that we can incorporate experimentally based constitutive laws for material properties in a coupled three-dimensional fluid-structure interaction framework. This mitral valve model is ex- tended by coupling with a contractile left ventricular model and a comparative analysis is further conducted