Modelling Rod-like Flexible Biological Tissues for Medical Training

This paper outlines a framework for the modelling of slender rod-like biological tissue structures in both global and local scales. Volumetric discretization of a rod-like structure is expensive in computation and therefore is not ideal for applications where real-time performance is essential. In our approach, the Cosserat rod model is introduced to capture the global shape changes, which models the structure as a one-dimensional entity, while the local deformation is handled separately. In this way a good balance in accuracy and efficiency is achieved. These advantages make our method appropriate for the modelling of soft tissues for medical training applications

Interactive Training System for Interventional Electrocardiology Procedures

International audienceRecent progress in cardiac catheterization and devices al-lowed to develop new therapies for severe cardiac diseases like arrhyth-mias and heart failure. The skills required for such interventions are still very challenging to learn, and typically acquired over several years. Vir-tual reality simulators can reduce this burden by allowing to practice such procedures without consequences on patients. In this paper, we propose the first training system dedicated to cardiac electrophysiology, includ-ing pacing and ablation procedures. Our framework involves an efficient GPU-based electrophysiological model. Thanks to an innovative mul-tithreading approach, we reach high computational performances that allow to account for user interactions in real-time. Based on a scenario of cardiac arrhythmia, we demonstrate the ability of the user-guided simulator to navigate inside vessels and cardiac cavities with a catheter and to reproduce an ablation procedure involving: extra-cellular poten-tial measurements, endocardial surface reconstruction, electrophysiology mapping, radio-frequency (RF) ablation, as well as electrical stimulation. This works is a step towards computerized medical learning curriculum

NOViSE: a virtual natural orifice transluminal endoscopic surgery simulator

Purpose: Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a novel technique in minimally invasive surgery whereby a flexible endoscope is inserted via a natural orifice to gain access to the abdominal cavity, leaving no external scars. This innovative use of flexible endoscopy creates many new challenges and is associated with a steep learning curve for clinicians. Methods: We developed NOViSE - the first force-feedback enabled virtual reality simulator for NOTES training supporting a flexible endoscope. The haptic device is custom built and the behaviour of the virtual flexible endoscope is based on an established theoretical framework – the Cosserat Theory of Elastic Rods. Results: We present the application of NOViSE to the simulation of a hybrid trans-gastric cholecystectomy procedure. Preliminary results of face, content and construct validation have previously shown that NOViSE delivers the required level of realism for training of endoscopic manipulation skills specific to NOTES Conclusions: VR simulation of NOTES procedures can contribute to surgical training and improve the educational experience without putting patients at risk, raising ethical issues or requiring expensive animal or cadaver facilities. In the context of an experimental technique, NOViSE could potentially facilitate NOTES development and contribute to its wider use by keeping practitioners up to date with this novel surgical technique. NOViSE is a first prototype and the initial results indicate that it provides promising foundations for further development

Inverse design of a suspended Kirchhoff rod: From theory to practice

International audienceEstimating the natural shape of a given hanging deformed rod, made of a known material, is a relevant problem in many industrial, graphic design, or even biological applications. To tackle this problem we examine the static Kirchhoff equations for thin elastic rods in the reverse direction, that is, when the shape at equilibrium is known and the natural shape is unknown. Our study is focussed on the case of an isotropic rod clamped at one end and free at the other, subjected to gravity

On a nonlinear partial differential algebraic system arising in technical textile industry: Analysis and numerics

In this paper we explore a numerical scheme for a nonlinear fourth order system of partial differential algebraic equations that describes the dynamics of slender inextensible elastica as they arise in the technical textile industry. Applying a semi-discretization in time, the resulting sequence of nonlinear elliptic systems with the algebraic constraint for the local length preservation is reformulated as constrained optimization problems in a Hilbert space setting that admit a solution at each time level. Stability and convergence of the scheme are proved. The numerical realization is based on a finite element discretization in space. The simulation results confirm the analytically predicted properties of the scheme.Comment: Abstract and introduction are partially rewritten. The numerical study in Section 4 is completely rewritte

Dynamics of a developable shell with uniform curvatures

International audienceMany surface-like objects around us such as leaves, garments, or boat sails, may easily bend but hardly stretch. One is thus faced with the need for numerical models able to handle inextensibility constraints properly. In the present work we restrict ourselves to the modeling of elastic developable surfaces, i.e., surfaces which always remain isometric to a planar configuration. Our surfaces of interest may however take a non-planar rest configuration, hence we shall model them as developable thin elastic shells. Our goal is to design a both robust and efficient discrete model for simulating the motion of such objects. This work presents a first step towards this direction, by introducing a perfectly inextensible patch for a developable thin elastic shell

Chain Shape Matching for Simulating Complex Hairstyles

Animations of hair dynamics greatly enrich the visual attractiveness of human characters. Traditional simulation techniques handle hair as clumps or continuum for efficiency; however, the visual quality is limited because they cannot represent the fine-scale motion of individual hair strands. Although a recent mass-spring approach tackled the problem of simulating the dynamics of every strand of hair, it required a complicated setting of springs and suffered from high computational cost. In this paper, we base the animation of hair on such a fine-scale on Lattice Shape Matching (LSM), which has been successfully used for simulating deformable objects. Our method regards each strand of hair as a chain of particles, and computes geometrically derived forces for the chain based on shape matching. Each chain of particles is simulated as an individual strand of hair. Our method can easily handle complex hairstyles such as curly or afro styles in a numerically stable way. While our method is not physically based, our GPU-based simulator achieves visually plausible animations consisting of several tens of thousands of hair strands at interactive rates