Real-time inextensible surgical thread simulation

Purpose This paper discusses a real-time simulation method of inextensible surgical thread based on the Cosserat rod theory using position-based dynamics (PBD). The method realizes stable twining and knotting of surgical thread while including inextensibility, bending, twisting and coupling effects....

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Bibliographic Details
Published in:International journal for computer assisted radiology and surgery Vol. 13; no. 7; pp. 1019 - 1035
Main Authors: Xu, Lang, Liu, Qian
Format: Journal Article
Language:English
Published: Cham Springer International Publishing 01.07.2018
Springer Nature B.V
Subjects:
Collision dynamics
Computer Imaging
Computer Science
Computer simulation
Deformation
Dimensional stability
Elasticity
Health Informatics
Imaging
Iterative methods
Medicine
Medicine & Public Health
Original
Original Article
Pattern Recognition and Graphics
Radiology
Real time
Rigid-body dynamics
Simulation
Surgery
Twisting
Vision
Position-based dynamics
Surgical thread
Cosserat rod
Virtual surgery
ISSN:1861-6410, 1861-6429, 1861-6429
Online Access:Get full text
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Summary:Purpose This paper discusses a real-time simulation method of inextensible surgical thread based on the Cosserat rod theory using position-based dynamics (PBD). The method realizes stable twining and knotting of surgical thread while including inextensibility, bending, twisting and coupling effects. Methods The Cosserat rod theory is used to model the nonlinear elastic behavior of surgical thread. The surgical thread model is solved with PBD to achieve a real-time, extremely stable simulation. Due to the one-dimensional linear structure of surgical thread, the direct solution of the distance constraint based on tridiagonal matrix algorithm is used to enhance stretching resistance in every constraint projection iteration. In addition, continuous collision detection and collision response guarantee a large time step and high performance. Furthermore, friction is integrated into the constraint projection process to stabilize the twining of multiple threads and complex contact situations. Results Through comparisons with existing methods, the surgical thread maintains constant length under large deformation after applying the direct distance constraint in our method. The twining and knotting of multiple threads correspond to stable solutions to contact and friction forces. A surgical suture scene is also modeled to demonstrate the practicality and simplicity of our method. Conclusions Our method achieves stable and fast simulation of inextensible surgical thread. Benefiting from the unified particle framework, the rigid body, elastic rod, and soft body can be simultaneously simulated. The method is appropriate for applications in virtual surgery that require multiple dynamic bodies.
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ISSN:1861-6410
1861-6429
1861-6429
DOI:10.1007/s11548-018-1739-1