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Physically-based 6-DoF Nodes Deformable Models: Application to Connective Tissues Simulation and Soft-Robots Control

Julien Bosman 1, 2 
2 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : The medical simulation is an increasingly active research field. Yet, despite the promising advance observed over the past years, the complete virtual patient’s model is yet to come. There are still many avenues for improvements, especially concerning the mechanical modeling of boundary conditions on anatomical structures. So far, most of the work has been dedicated to organs simulation, which are generally simulated alone. This raises a real problem as the role of the surrounding organs in the boundary conditions is neglected. However, these interactions can be complex, involving contacts but also mechanical links provided by layers of soft tissues. The latter are known as connective tissues or fasciae. As a consequence, the mutual influences between the anatomical structures are generally simplified, weakening the realism of the simulations. This thesis aims at studying the importance of the connective tissues, and especially of a proper modeling of the boundary conditions. To this end, the role of the ligaments during laparoscopic liver surgery has been investigated. In order to enhance the simulations’ realism, a mechanical model dedicated to the connective tissues has been worked out. This has led to the development of a physically-based method relying on material points that can, not only translate, but also rotate themselves. The goal of this model is to enable the simulation of multiple organs linked by complex interactions. In addition, the work on the connective tissues model has been derived to be used in soft robotics. Indeed, the principle of relying on orientable material points has been used to developed a reduced model that can reproduce the behavior of more complex structures. The objective of this work is to provide the means to control – in real-time – a soft robot made of a deformable arm.
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Submitted on : Monday, January 25, 2016 - 12:05:59 PM
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  • HAL Id : tel-01261423, version 1


Julien Bosman. Physically-based 6-DoF Nodes Deformable Models: Application to Connective Tissues Simulation and Soft-Robots Control . Modeling and Simulation. Université Lille 1, 2015. English. ⟨NNT : ⟩. ⟨tel-01261423⟩



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