Real time simulation of inextensible surgical thread using a Kirchhoff rod model with force output for haptic feedback applications

Zhujiang Wang, Marco Fratarcangeli, Annie Ruimi, A. R. Srinivasa

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

We discuss the dynamics of an inextensible thin Kirchhoff rod used in the modeling of surgical threads, and demonstrate a very efficient scheme to not only simulate the motion of the thread in real-time (up to 1 ms per frame) but also obtain the constraint axial forces which can be fed back to a haptic system. The numerical scheme is based on a family of schemes called geometric or discrete variational integrators guaranteeing that the momentum and energy are exactly conserved over long periods of time for conservative systems. Besides, we report on an efficient numerical procedure to handle the inextensibility of the thread through physically based Lagrange multipliers, as well as the internal dissipation of the thread. We have performed simulations to verify the capabilities of our model to conserve momentum and energy, accurately calculate the axial constraint forces along the thread for haptic feedback, and capture bending-torsion coupling leading to the formation of plectonemes. While many of the ideas are well known in the computer graphics community (especially in hair modeling), we have implemented several improvements for the specific purpose of speeding up the computations for developing physically based haptic interfaces for knot tying and suturing.

Original languageEnglish
Pages (from-to)192-208
Number of pages17
JournalInternational Journal of Solids and Structures
Volume113-114
DOIs
Publication statusPublished - 15 May 2017
Externally publishedYes

Fingerprint

Real-time Simulation
Haptic Feedback
Inextensible
threads
Thread
Momentum
rods
Feedback
Haptic interfaces
Lagrange multipliers
output
Output
Computer graphics
Torsional stress
simulation
Variational Integrators
Haptic Interface
momentum
computer graphics
Conservative System

Keywords

  • Constraint force
  • Elastic thread
  • Haptic feedback
  • Inextensibility
  • Kirchhoff rod
  • Variational integrator

ASJC Scopus subject areas

  • Modelling and Simulation
  • Materials Science(all)
  • Condensed Matter Physics
  • Mechanics of Materials
  • Mechanical Engineering
  • Applied Mathematics

Cite this

Real time simulation of inextensible surgical thread using a Kirchhoff rod model with force output for haptic feedback applications. / Wang, Zhujiang; Fratarcangeli, Marco; Ruimi, Annie; Srinivasa, A. R.

In: International Journal of Solids and Structures, Vol. 113-114, 15.05.2017, p. 192-208.

Research output: Contribution to journalArticle

@article{360e45f649114c6791c23189cc2450d4,
title = "Real time simulation of inextensible surgical thread using a Kirchhoff rod model with force output for haptic feedback applications",
abstract = "We discuss the dynamics of an inextensible thin Kirchhoff rod used in the modeling of surgical threads, and demonstrate a very efficient scheme to not only simulate the motion of the thread in real-time (up to 1 ms per frame) but also obtain the constraint axial forces which can be fed back to a haptic system. The numerical scheme is based on a family of schemes called geometric or discrete variational integrators guaranteeing that the momentum and energy are exactly conserved over long periods of time for conservative systems. Besides, we report on an efficient numerical procedure to handle the inextensibility of the thread through physically based Lagrange multipliers, as well as the internal dissipation of the thread. We have performed simulations to verify the capabilities of our model to conserve momentum and energy, accurately calculate the axial constraint forces along the thread for haptic feedback, and capture bending-torsion coupling leading to the formation of plectonemes. While many of the ideas are well known in the computer graphics community (especially in hair modeling), we have implemented several improvements for the specific purpose of speeding up the computations for developing physically based haptic interfaces for knot tying and suturing.",
keywords = "Constraint force, Elastic thread, Haptic feedback, Inextensibility, Kirchhoff rod, Variational integrator",
author = "Zhujiang Wang and Marco Fratarcangeli and Annie Ruimi and Srinivasa, {A. R.}",
year = "2017",
month = "5",
day = "15",
doi = "10.1016/j.ijsolstr.2017.02.017",
language = "English",
volume = "113-114",
pages = "192--208",
journal = "International Journal of Solids and Structures",
issn = "0020-7683",
publisher = "Elsevier Limited",

}

TY - JOUR

T1 - Real time simulation of inextensible surgical thread using a Kirchhoff rod model with force output for haptic feedback applications

AU - Wang, Zhujiang

AU - Fratarcangeli, Marco

AU - Ruimi, Annie

AU - Srinivasa, A. R.

PY - 2017/5/15

Y1 - 2017/5/15

N2 - We discuss the dynamics of an inextensible thin Kirchhoff rod used in the modeling of surgical threads, and demonstrate a very efficient scheme to not only simulate the motion of the thread in real-time (up to 1 ms per frame) but also obtain the constraint axial forces which can be fed back to a haptic system. The numerical scheme is based on a family of schemes called geometric or discrete variational integrators guaranteeing that the momentum and energy are exactly conserved over long periods of time for conservative systems. Besides, we report on an efficient numerical procedure to handle the inextensibility of the thread through physically based Lagrange multipliers, as well as the internal dissipation of the thread. We have performed simulations to verify the capabilities of our model to conserve momentum and energy, accurately calculate the axial constraint forces along the thread for haptic feedback, and capture bending-torsion coupling leading to the formation of plectonemes. While many of the ideas are well known in the computer graphics community (especially in hair modeling), we have implemented several improvements for the specific purpose of speeding up the computations for developing physically based haptic interfaces for knot tying and suturing.

AB - We discuss the dynamics of an inextensible thin Kirchhoff rod used in the modeling of surgical threads, and demonstrate a very efficient scheme to not only simulate the motion of the thread in real-time (up to 1 ms per frame) but also obtain the constraint axial forces which can be fed back to a haptic system. The numerical scheme is based on a family of schemes called geometric or discrete variational integrators guaranteeing that the momentum and energy are exactly conserved over long periods of time for conservative systems. Besides, we report on an efficient numerical procedure to handle the inextensibility of the thread through physically based Lagrange multipliers, as well as the internal dissipation of the thread. We have performed simulations to verify the capabilities of our model to conserve momentum and energy, accurately calculate the axial constraint forces along the thread for haptic feedback, and capture bending-torsion coupling leading to the formation of plectonemes. While many of the ideas are well known in the computer graphics community (especially in hair modeling), we have implemented several improvements for the specific purpose of speeding up the computations for developing physically based haptic interfaces for knot tying and suturing.

KW - Constraint force

KW - Elastic thread

KW - Haptic feedback

KW - Inextensibility

KW - Kirchhoff rod

KW - Variational integrator

UR - http://www.scopus.com/inward/record.url?scp=85016438236&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85016438236&partnerID=8YFLogxK

U2 - 10.1016/j.ijsolstr.2017.02.017

DO - 10.1016/j.ijsolstr.2017.02.017

M3 - Article

AN - SCOPUS:85016438236

VL - 113-114

SP - 192

EP - 208

JO - International Journal of Solids and Structures

JF - International Journal of Solids and Structures

SN - 0020-7683

ER -