Related papers: Mathematical Modeling and Computer Simulation of N…
Regularization strategies in medical image registration often take a one-size-fits-all approach by imposing uniform constraints across the entire image domain. Yet biological structures are anything but regular. Lacking structural…
Many robotic tasks are still teleoperated since automating them is very time consuming and expensive. Robot Learning from Demonstrations (RLfD) can reduce programming time and cost. However, conventional RLfD approaches are not directly…
In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable…
The realistic modelling of medical interventions is the key requirement for development of high-fidelity medical simulators. In this work, a parameterized model suitable for real-time haptic feedback of needle interaction with tissue has…
The increasing number of protein-based metamaterials demands reliable and efficient theoretical and computational methods to study the physicochemical properties they may display. In this regard, we develop a simulation strategy based on…
With the advent of robot-assisted surgery, the role of data-driven approaches to integrate statistics and machine learning is growing rapidly with prominent interests in objective surgical skill assessment. However, most existing work…
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…
General skinning techniques aim to deform the surface of an articulated model following the pose change of a skeleton. Their rapidity makes them ideal tools for real-time animation purposes. However, popular skinning algorithms are simple,…
In medicolegal situations, the consequences of a stabbing incident are described in terms that are qualitative without being quantitative. Here, the mechanical variables involved in knife-tissue penetration events are used to determine the…
Soft elastic composite materials containing particulate rigid inclusions in a soft elastic matrix are candidates for developing soft actuators or tunable damping devices. The possibility to reversibly drive the rigid inclusions within such…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Mesh-free Lagrangian methods are widely used for simulating fluids, solids, and their complex interactions due to their ability to handle large deformations and topological changes. These physics simulators, however, require substantial…
The growing importance of real-time simulation in the medical field has exposed the limitations and bottlenecks inherent in the digital representation of complex biological systems. This paper presents a novel methodology aimed at advancing…
Incompressibility, nonlinear deformation under stress and viscoelasticity are the fingerprint of soft tissue mechanical behavior. In order to model soft tissues appropriately, we must pursue to complete these requirements. In this work we…
We present a general framework for the garment animation problem through unsupervised deep learning inspired in physically based simulation. Existing trends in the literature already explore this possibility. Nonetheless, these approaches…
Purpose. Precise placement of needles is a challenge in a number of clinical applications such as brachytherapy or biopsy. Forces acting at the needle cause tissue deformation and needle deflection which in turn may lead to misplacement or…
Over the last two decades, scientific literature has been blooming with various means of simulating epithelial cell colonies. Each of these simulations can be separated by their respective efficiency (expressed in terms of consumed…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Robotic touch, particularly when using soft optical tactile sensors, suffers from distortion caused by motion-dependent shear. The manner in which the sensor contacts a stimulus is entangled with the tactile information about the geometry…