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Explicit Contact Modelling for Surgical Computer Guidance and Simulation

Johnsen, SF; Taylor, ZA; Clarkson, M; Thompson, S; Hu, M; Gurusamy, K; Davidson, B; ... Ourselin, S; + view all (2012) Explicit Contact Modelling for Surgical Computer Guidance and Simulation. In: Holmes, DR and Wong, KH, (eds.) Proceedings Volume 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling. (pp. p. 831623). SPIE: San Diego, CA, USA. Green open access

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Abstract

Realistic modelling of mechanical interactions between tissues is an important part of surgical simulation, and may become a valuable asset in surgical computer guidance. Unfortunately, it is also computationally very demanding. Explicit matrix-free FEM solvers have been shown to be a good choice for fast tissue simulation, however little work has been done on contact algorithms for such FEM solvers. This work introduces such an algorithm that is capable of handling both deformable-deformable (soft-tissue interacting with soft-tissue) and deformable-rigid (e.g. soft-tissue interacting with surgical instruments) contacts. The proposed algorithm employs responses computed with a fully matrix-free, virtual node-based version of the model first used by Taylor and Flanagan in PRONTO3D. For contact detection, a bounding-volume hierarchy (BVH) capable of identifying self collisions is introduced. The proposed BVH generation and update strategies comprise novel heuristics to minimise the number of bounding volumes visited in hierarchy update and collision detection. Aside from speed, stability was a major objective in the development of the algorithm, hence a novel method for computation of response forces from C0-continuous normals, and a gradual application of response forces from rate constraints has been devised and incorporated in the scheme. The continuity of the surface normals has advantages particularly in applications such as sliding over irregular surfaces, which occurs, e.g., in simulated breathing. The effectiveness of the scheme is demonstrated on a number of meshes derived from medical image data and artificial test cases.

Type: Proceedings paper
Title: Explicit Contact Modelling for Surgical Computer Guidance and Simulation
Event: Conference on Medical Imaging - Image-Guided Procedures, Robotic Interventions and Modeling
Location: San Diego, CA
Dates: 05 February 2012 - 07 February 2012
Open access status: An open access version is available from UCL Discovery
DOI: 10.1117/12.911787
Publisher version: http://dx.doi.org/10.1117/12.911787
Language: English
Additional information: © (2012) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only. This version is the version of record. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Science & Technology, Physical Sciences, Life Sciences & Biomedicine, Optics, Radiology, Nuclear Medicine & Medical Imaging, Contact modelling, explicit solver, TLED, Lagrange-multiplier technique, bounding volume hierarchy, FEM, surgical simulation, surgical computer guidance, ALGORITHM, DYNAMICS
URI: http://discovery.ucl.ac.uk/id/eprint/10052300
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