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Real-time surgical simulation using a lattice- continuum approach

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SOFA

Real-time surgical simulation using a lattice- continuum approach

Implementation and verification

Huu Phuoc Bui

1

, Hadrien Courtecuisse

1

, Stéphane P.A. Bordas

2

, Stéphane Cotin

3

1

ICube laboratory, University of Strasbourg

2

University of Luxembourg

3

Mimesis team, Inria

(2)

SOFA

HP Bui, University of Strasbourg

2

Some words about me

►PhD at University of Grenoble (November 2013)

Multiscale approach of concrete structure failure

►Lecturer (ATER) at 3SR laboratory (2014)

Segmentation of cracks in concrete structure

►Arrived in Strasbourg (September 2014)

(3)

SOFA

HP Bui, University of Strasbourg

3

Context

►Surgery: complex practice

►Experiences of surgeons

►A number of risks

(4)

SOFA

HP Bui, University of Strasbourg

4

Context

► Computer-based simulation

► Surgical training

► Guidance

► Surgical robotics

Simulation of lens extraction

Simulation of brain tumor resection

Courtecuisse et al, 2013

► Challenges: cutting, tearing, needle insertion, ...

► Topological changes

► Contacts

► Microstructure of the tissue

(discontinuities, holes, )

(5)

SOFA

HP Bui, University of Strasbourg

5

Objectives

► Development of numerical tool

► Real-time simulation

► Multi-domain: continuum-lattice approach

► Multiscale: macro, mesoscopic scale (material scale)

► The algorithm is implemented into SOFA framework

▲ Computational gains

▲ Increase the quality of the cut

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SOFA

HP Bui, University of Strasbourg

6

Lattice approach

Discretization by 1D elements

▲ Discrete model: suitable for discontinuity problems

▲ Simplicity to incorporate fracture, cutting

▲ Modeling of material heterogeneity

○ Beam element

○ Truss element

▼Computational cost

(7)

SOFA

HP Bui, University of Strasbourg

7

Continuum-lattice approach

(8)

SOFA

HP Bui, University of Strasbourg

8

Coupling methods

1. Penalty method: with penalty coefficients α >> 1

2. Lagrange multipliers:

3. Master/slave approach (Belytschko et al, 2000):

F :master, L: slave

Mapping mechanism in SOFA

(9)

SOFA

HP Bui, University of Strasbourg

9

FEM-LEM coupling

FEM LEM

Multi-mapping mechanism in SOFA

(10)

SOFA

HP Bui, University of Strasbourg

10

Verification tests

(11)

SOFA

HP Bui, University of Strasbourg

11

Verification tests: 3D tensile test

E = 19.5 GPa ν = 0.1

bxh = 2x2 mm F = 100 N

F

6 5

x y

Analytical solution

F 11

x y

F 11

x y

Coupling

FEM

LEM

(12)

SOFA

HP Bui, University of Strasbourg

12

Verification tests: 3D tensile test

(13)

SOFA

HP Bui, University of Strasbourg

13

Validation tests: 3D bending test

F

6 5

x y

11

x y

11

x y

Coupling

FEM

LEM

F

F

Analytical solution

(14)

SOFA

HP Bui, University of Strasbourg

14

Bending test: FEM approach

(15)

SOFA

HP Bui, University of Strasbourg

15

Bending test: FEM-LEM approach

(16)

SOFA

HP Bui, University of Strasbourg

16

Fracture application

Failure due to tearing

(17)

SOFA

HP Bui, University of Strasbourg

17

Dynamically Topological Changes

(18)

SOFA

HP Bui, University of Strasbourg

18

Dynamically Topological Changes

(19)

SOFA

HP Bui, University of Strasbourg

19

Dynamically Topological Changes

(20)

SOFA

HP Bui, University of Strasbourg

20

Conclusions & Perspectives

☺Continuum-lattice coupling is verified

☺Fracture simulation

Conclusions

Perspectives

☻Cutting of soft tissue

☻Implementation on GPUs

(21)

SOFA

HP Bui, University of Strasbourg

21

Thank you for your attention!

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