Related papers: Real-time Deformation of Soft Tissue Internal Stru…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Generating realistic intermediate shapes between non-rigidly deformed shapes is a challenging task in computer vision, especially with unstructured data (e.g., point clouds) where temporal consistency across frames is lacking, and…
In medical imaging, most of the image registration methods implicitly assume a one-to-one correspondence between the source and target images (i.e., diffeomorphism). However, this is not necessarily the case when dealing with pathological…
This paper introduces a new approach for simulating magnetic properties of nanocomposites comprising magnetic particles embedded in a non-magnetic matrix, taking into account the 3D structure of the system in which particles' positions…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
We present SoftSMPL, a learning-based method to model realistic soft-tissue dynamics as a function of body shape and motion. Datasets to learn such task are scarce and expensive to generate, which makes training models prone to overfitting.…
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…
Soft matters whose constituents are deformable are ubiquitous in nature especially in biological systems-including cells and their organelles-as well as in foams and emulsions. The capacity for deformation in these soft materials gives rise…
We present a new effective way for performance capture of deforming meshes with fine-scale time-varying surface detail from multi-view video. Our method builds up on coarse 4D surface reconstructions, as obtained with commonly used…
Reconstructing deformable endoscopic tissues is crucial for achieving robot-assisted surgery. However, 3D Gaussian Splatting-based approaches encounter challenges in achieving consistent tissue surface reconstruction, while existing…
Cell deformability is an essential determinant for tissue-scale mechanical nature, such as fluidity and rigidity, and is thus crucial for understanding tissue homeostasis and stable developmental processes. However, numerical simulations…
The bio-inspired engineering of ovipositing wasps, which employ a reciprocating motion for soft tissue insertion, offers potential advantages in reducing insertion force and minimizing tissue damage. However, the underlying mechanisms of…
When the effects of relative motion at the solid object interfaces are not negligible, the contact method is required in the smoothed particle hydrodynamics (SPH) method to prevent virtual shear and tensile stresses. However, there is still…
This paper addresses the challenge of geometric quality assurance in manufacturing, particularly when human assessment is required. It proposes using Blender, an open-source simulation tool, to create synthetic datasets for machine learning…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Segmentations are crucial in medical imaging to obtain morphological, volumetric, and radiomics biomarkers. Manual segmentation is accurate but not feasible in the radiologist's clinical workflow, while automatic segmentation generally…
Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise definition of the state space and its dynamics. While this is…
In the 80's, biomechanicians were asked to work on Computer Aided Surgery applications since orthopaedic surgeons were looking for numerical tools able to predict risks of fractures. More recently, biomechanicians started to address soft…