Banded matrix approach to Finite Element modelling for soft tissue simulation

Realistic deformation of computer-simulated anatomica structures is computationally intensive. As a result, simple methodologies not based in continuum mechanics have been employed for achieving real-time deformation of virtual anatomy. Since the graphical interpolations and simple spring models commonly used in these simulations are not based on the biomechanical properties of tissue structures, these quick and dirty methods typically do not represent accurately the complex deformations and force-feedback interactions that can take place during surgery. Finite Element (FE) analysis is widely regarded as the most appropriate alternative to these methods. Extensive research has been directed toward applying this method to modelling a wide range of biological structures, and a few simple FE models have been incorporated into surgical simulations. However, because of the highly computational nature of the FE method, its direct application to real-time force-feedback and visualisation of tissue deformation has not been practical for most simulations. This limitation is due primarily to the overabundance of information provided by the standard FE approaches. If the mathematics are optimised through preprocessing to yield only the information essential to the simulation task, run-time computation requirements can be reduced drastically. We are currently developing such methodologies, and have created computer demonstrations that support real-time interaction with soft tissue. To illustrate the efficacy and utility of these fast banded matrix FE methods, we present results from a skin suturing simulator which we are developing on a PC-based platform.     

Interaction model between elastic objects for haptic feedback considering collisions of soft tissue

The simulation of organ–organ interaction is indispensable for practical and advanced medical VR simulator such as open surgery and indirect palpation. This paper describes a method to represent real-time interaction between elastic objects for accurate force feedback in medical VR simulation. The proposed model defines boundary deformation of colliding elements based on temporary surface forces calculated by temporary deformation. The model produces accurate deformation and force feedback considering collisions of objects as well as prevents unrealistic overlap of objects. A prototype simulator of rectal palpation is constructed on general desktop PC with a haptic device, PHANToM. The system allows users to feel different stiffness of a rear elastic object located behind another elastic object. The results of experiments confirmed the method expresses organ–organ interaction in real-time and produces realistic and perceivable force feedback.     

飞机复杂机构虚拟培训场景运动建模方法

针对含有飞机复杂机构的虚拟培训场景建模过程复杂、生成的场景帧率低、交互性差等问题,提出一种虚拟场景建模方法。首先,对原动件在其运动范围内进行运动状态采样;然后利用机构仿真平台进行运动学建模与解算,获取所有零件的运动状态作为机构的运动状态库,并对运动状态库进行压缩;最后,在虚拟现实引擎中将库文件与经过材质编辑的网格模型融合,采用索引、插值替代实时解算,以获取零件的位置姿态数据,生成虚拟场景。使用起落架收放机构与后缘襟翼收放机构进行实验,结果表明,该方法可以实现真实感强、交互性好的飞机复杂机构虚拟培训场景运动建模。     

Energy balance method for modelling of soft tissue deformation

This paper presents a novel methodology for modelling of soft tissue deformation, from the standpoint of work–energy balance based on the law of conservation of energy. The work done by an external force is always balanced against the strain energy due to the internal force of the object. A position-based incremental approach is established, in which the work–energy balance is achieved via an iterative position increment process for the new equilibrium state of the object. The position-based incremental approach is further combined with non-rigid mechanics of motion to govern the dynamics of soft tissue deformation. The proposed method employs nonlinear geometric and material formulations to account for the nonlinear soft tissue deformation. Soft tissue material properties can be accommodated by specifying strain energy density functions. Integration with a haptic device is also achieved for soft tissue deformation with haptic feedback for surgical simulation. Experimental results demonstrate that the deformations by the proposed method are in good agreement with those by a commercial package of finite element analysis. Isotropic and anisotropic deformations, as well as soft tissue viscoelastic behaviours, can be accommodated by the proposed methodology via strain energy density functions.     

虚拟情景实训环境三维模拟

应用计算机技术当中的虚拟模拟技术,对于当前各领域实现虚拟情景三维模拟训练已成为可能。本文研究当前技术环境下,利用Unity3D模拟平台构造虚拟情景训练系统的开发与设计。从三维模拟训练系统的关键技术研究入手,以三维场景优化、物理碰撞逻辑检测、动态加载场景以及网络通信作为开发的重点,设计出较为先进和逼真的虚拟情境下三维模拟训练系统。并以消防部门作为系统应用的检测部门,检测结果表示此系统可以很好的表现出现场场景的模拟程度以及逻辑,对于加强消防部门的训练技术和应用效果有很大优势。     

生物软组织力反馈触觉建模测试系统研制

设计了一种结构新颖的用于生物软组织力反馈触觉建模的测试系统。阐述了系统结构与工作原理,介绍了系统的机械设计、硬件电路和系统软件。系统采用计算机测量并控制带有力和位置传感器的单自由度机械手,通过插针实验与动物软组织交互得到软组织的力反馈触觉模型。以猪肝为标本进行实验,实验结果和现有的理论模型较为符合,该系统可以用于软组织触觉建模实验研究。     

虚拟手术环境中软组织的快速碰撞检测

针对虚拟手术中软组织碰撞检测的实时性问题,提出了一种基于延迟更新策略的快速检测方法。该方法应用层次包围盒（BVH）的思想并根据拓扑结构特征来表示手术环境中的对象,同时使用延迟更新的策略来降低更新的计算量。首先用不同的层次包围盒来表示手术工具和手术对象;然后利用包围盒的相交测试快速排除不相交部分;再对可能发生碰撞的部分使用更为精确的三角面片相交测试来确定碰撞信息,最后使用延迟更新的策略来完成软组织变形时层次包围盒的更新。实验表明,该方法相较于现有算法在保持检测精度的同时能够有效提高碰撞检测的速度。     

A comparison of some model order reduction methods for fast simulation of soft tissue response using the point collocation-based method of finite spheres

In this paper we develop the point collocation-based method of finite spheres (PCMFS) to simulate the viscoelastic response of soft biological tissues and evaluate the effectiveness of model order reduction methods such as modal truncation (MT), Hankel optimal model and truncated balanced realization (TBR) techniques for PCMFS. The PCMFS is a physics-based meshfree numerical technique for real time simulation of surgical procedures. Since computational speed has a significant role in simulation of surgical procedures, model order reduction methods have been compared for relative gains in efficiency and computational accuracy. Of these methods, TBR results in the highest accuracy with an average error which is within 3.37% of the full model while MT results in the highest efficiency with a computational cost reduction of 54.2% compared to the full model.     

A desktop VR prototype for industrial training applications

The recent advances in computer graphics has spurred interest from both academics and industries in virtual reality (VR) enabled training applications. This paper presents a desktop VR prototype for industrial training applications. It is designed and implemented as a general shell by providing the data interface to import both the virtual environment models and specific domain knowledge. The geometric models of the virtual environment are constructed using feature-based modelling and assembly function by external CAD tools, and then transferred into the prototype through a conversion module. A hierarchical structure is proposed to partition and organise these imported virtual environment models. Based on this structure, a visibility culling approach is developed for fast rendering and user interaction. The case study has demonstrated the functionality of the proposed prototype system by applying it to a maintenance training application for a refinery bump system, which, in general, has a large number of polygons and a certain depth complexity. Significant speedup in both context rendering and response to user manipulations has been achieved to provide the user with a fast system response within the desktop virtual environment. Compared with the immersive VR system, the proposed system has offered an affordable and portable training media for industrial applications.The work was done in Nanyang Technological University.     

A dynamic simulator for humanoid robots

Computer simulation is an essential step in the design and construction of various mechanical structures, including biped robots, because it enables rapid testing and virtual prototyping during the construction phase. Although many different simulators are available, this article gives an overview and a motivation for building a new dynamic multibody simulator. The simulator is especially adapted to humanoid robot Archie, developed at the IHRT Institute at the Technical University of Vienna. In addition, it is shown how the simulator can be used not only in the controller design, but also in the online control loop to extend the available sensors: a virtual sensors principle. This work was presented in part at the First European Workshop on Artificial Life and Robtics, Vienna, Austria, July 12–13, 2007     

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

The technological differences between traditional robotics and soft robotics have an impact on all of the modeling tools generally in use, including direct kinematics and inverse models, Jacobians, and dynamics. Due to the lack of precise modeling and control methods for soft robots, the promising concepts of using such design for complex applications (medicine, assistance, domestic robotics, etc.) cannot be practically implemented. This paper presents a first unified software framework dedicated to modeling, simulation, and control of soft robots. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators and 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 has been built on top of SOFA, an open-source framework for deformable online simulation and is available at https://project.inria.fr/softrobot/.     

A hierarchically structured and constraint-based data model for intuitive and precise solid modeling in a virtual reality environment

This article proposes a hierarchically structured and constraint-based data model for intuitive and precise solid modeling in a virtual reality (VR) environment. The data model integrates a high level constraint-based model for intuitive and precise manipulation, a middle level solid model for complete and precise representation and a low-level polygon mesh model for real-time interactions and visualization in a VR environment. The solid model is based on a hybrid B-rep/CSG data structure. Constraints are embedded in the solid model and are organized at hierarchical levels as feature constraints among internal feature elements, part constraints among internal features and assembly constraints between individual parts. In addition to providing a complete and precise model representation and the support for real-time visualization, the proposed data model permits intuitive and precise interaction through constraint-based manipulations for solid modeling in a VR environment. This is a critical issue for product design in a VR environment due to the limited resolutions of today's VR input and output devices.     

Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation

Controlling the interaction between robots and living soft tissues has become an important issue as the number of robotic systems inside the operating room increases. Many researches have been done on force control to help surgeons during medical procedures, such as physiological motion compensation and tele-operation systems with haptic feedback. In order to increase the performance of such controllers, this work presents a novel force control scheme using Active Observer (AOB) based on a viscoelastic interaction model. The control scheme has shown to be stable through theoretical analysis and its performance was evaluated by in vitro experiments. In order to evaluate how the force control scheme behaves under the presence of physiological motion, experiments considering breathing and beating heart disturbances are presented. The proposed control scheme presented a stable behavior in both static and moving environment. The viscoelastic AOB presented a compensation ratio of 87% for the breathing motion and 79% for the beating heart motion.     

基于增强现实的人机物理交互仿真系统研究

在增强现实系统中,真实物体和虚拟物体除了要实现视觉上的融合之外,还要能够实现视觉交互和物理交互.仿真系统采用了基于单目视觉的ARToolKit增强现实开发平台,首先对CMOS摄像头采集的图像进行处理,利用模式识别的方法对标识物进行图像匹配,然后对从标识物坐标系到摄像机坐标系的变换矩阵进行计算,实现虚实注册,最后通过对标识物空间位置的改变实现了虚实物体问的单向物理交互.实验结果表明,该系统操作简单直观,具有良好的实时性,交互性及可扩展性.     

A scene graph based visualization method for representing continuous simulation data

This paper proposes a scene graph based visualization method that can verify time-varying continuous analysis simulation in a virtual reality (VR) environment by using the computer-aided engineering (CAE) data of structural analysis in product development. In previous research, the use of CAE analysis data has been problematic because of the lack of any interactive simulation controls for visualizing continuous simulation data. Moreover, the research on post-processing methods for real-time evaluation of CAE analysis data has not been sufficient. We therefore propose a scene graph based visualization method for representing continuous simulation data. The method can continuously visualize static analysis data independently of any timeline; it can also continuously visualize dynamic analysis data that varies in relation to the timeline. The visualization system for continuous simulation data, which includes CAE2VR Middleware that interfaces with various formats of CAE analysis data as well as functions for visualizing continuous simulation data and operational functions, enables users to verify simulation results with more realistic scenes.     

无人机飞行视景仿真平台的设计与实现

基于相对低成本的PC机和OpenGL API构建了一个完整的飞行视景仿真平台。基于该平台,可以快速定制出特定的视景仿真环境,满足不同的的行仿真任务需求同时,还对视景仿真中的大地形显示等关键算法进行了深入研究,并提出了解决方法。     

Pseudo-interference stiffness estimation, a highly efficient numerical method for force evaluation in contact problems

This paper presents a novel method, Pseudo-Interference Stiffness Estimation (PISE), for evaluating the contact compliance and the contact load in the contacting elastic solids. The PISE method is based on the evaluation of the geometric overlap of two assumedly rigid bodies and estimation of the contact force based on this artificial overlap area (or volume). In this paper, an example of the dynamic simulation of two disk collision problem is solved both by PISE method and finite element contact model. The contact force and velocity changes during impact from both methods are shown to be in good agreement. However, PISE method is, computationally, orders of magnitude (about 3000 times in our numerical simulations) faster than finite element contact analysis. The proposed method will be of practical use in contact force approximation of contacting bodies, such as meshing of spur gear teeth, cam analysis and synthesis, robotic grabbing, and numerous other applications.     

A multilayer-perceptron based method for variable selection in soft sensor design

The paper proposes a new method for variable selection for prediction settings and soft sensors applications. The new variable selection method is based on the multi-layer perceptron (MLP) neural network model, where the network is trained a single time, maintaining low computational cost. The proposed method was successfully applied, and compared with four state-of-the-art methods in one artificial dataset and three real-world datasets, two publicly available datasets (Box–Jenkins gas furnace and gas mileage), and a dataset of a problem where the objective is to estimate the fluoride concentration in the effluent of a real urban water treatment plant (WTP). The proposed method presents similar or better approximation performance when compared to the other four methods. In the experiments, among all the five methods, the proposed method selects the lowest number of variables and variables-delays pairs to achieve the best solution. In soft sensors applications having a lower number of variables is a positive factor for decreasing implementation costs, or even making the soft sensor feasible at all.     

一种虚拟场景快速建模方法

针对VRML语言直接构建虚拟场景较为困难,提出了一种快速建模方法,通过配准场景平面图绘制图元并结合坐标系解决了数据源和场景组合问题,同时利用图元绘制、超薄长方体交互式纹理映射生成建筑实体,运用道路快速绘制方法生成道路,并利用地形趋势增长算法和三维地形交互式修改方法实现了,在缺乏真实地形数据的情况下对地形的快速逼真模拟,提高了建模速度,实验结果表明了方法的可行性,为快速构建虚拟场景提供了新的思路.     

Fast continuous collision detection and handling for desktop virtual prototyping

This paper presents an overview of our recent work on continuous collision detection methods and constraints handling for rigid polyhedral objects. We demonstrate that continuous collision detection algorithms are practical in interactive dynamics simulation of complex polyhedral rigid bodies and show how continuous collision detection and efficient constraint-based dynamics algorithms allow us to perform various virtual prototyping tasks intuitively, precisely and robustly on commodity desktop computers. Especially, we present two applications of our system to actual industrial cases. We note that both tasks are performed with a simple 2D mouse on a high-end computer.