The collision detection algorithm in suturing simualtion

[PengYu]

Hi, I saw a suture simulation demo here.
After investigating the sofa source code, I found there are only collision detections between simple primitives or triangle surface mesh (correct me if I’m wrong). However, the suture simulation application needs to know the collision between suture or needle and the volume mesh of soft tissue.
Thus, I want to know more details about the collision detection algorithm about that suture simulation.

[Hugo]

Hi @rainvector (and @xavierleorio asking a similar question in another post)

Thanks for pointing out this work. It is indeed an work performed about 8-10 years ago. Currently, the InSimo company is working on this topic again. But at my best knowledge, it has not been widely refreshed in the open-source community.

Simulating suture is indeed more complex that only collision detection. You need to detect collision, then regarding a perforation threshold create a perforation constraint and then constraint your needle and your tissue. There is interesting research topics there. I would be happy to guide you (as much as I can) and connect your within the community. A joint project could also be promising! In this case, do not hesitate to contact me in PM.

Best wishes,

Hugo

[PengYu]

Hi @hugo, I am really excited to receive your reply. I would appreciate that if I have an opportunity to cooperate with you about suturing simulation.

Indeed, suturing simulation is a complex project. I’ve read some related papers of Christian Duriez and Prof. Stephane Cotin. I find that the animation loop (FreeMotion Loop) was already implemented in the sofa framework. However, many critical procedures are uncovered.

1. The collision detection in sofa is not enough. The original papers discussed little this topic. I’ve implemented one kind of collision detection algorithm for suturing simulation. Maybe I can talk more details about it with you in private.

2. The constraints (contact, puncture, cutting, path, friction) involved in suturing are not defined clearly.

3. The interaction between the rigid needle and soft tissue is not the same as the interaction between the flexible suture and the soft tissue.

I would love to discuss this topic with you if you have time. Furthermore, a joint project would be great!

Best wishes.
RainVector

[Hugo]

Hi @rainvector

1. Very interesting to read, yes we can definitely talk in private about your detection algorithm implementation for suturing simulation. You can use the contact form of SOFA website, I’ll reply personally.

2. Indeed, I am working on documenting the collision phase. In a second step, I would like the research community to bring some lights on such constraints (contact, puncture, cutting, path, friction). It’s not an aspect that I master, I will try to get information about how it was actually implemented.

3. Joint project, yes definitely! It’s a topic many people are interested in!

Best,

Hugo

[xiaochaosui]

Hi Pengyu,
I have a question. Where is the the sofa source code about the here ?

Best,
xiaochaosui

[Hugo]

Hi @xiaochaosui

The link you are referring to is a previous work and the code is not active anymore.
You can join the Gitter discussion room dedicated to this topic.

Note as well that a team is developing a Cosserat plugin (line mechanical model following the Cosserat beam theory). This plugin handles needle modeling and should handle needle insertion. It could be worth looking at it.

Hugo

[Author]

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