Real-Time Finite Element Modeling for Microrobotic Injection Training
A key challenge of deformable simulation is to satisfy the conflicting requirements of real-time interactivity and physical realism. In order to facilitate training of biological cell injection operations, we have developed a physics-based simulation integrating an interactive virtual environment. Using this tool, the operator can form, train and improve its control by developing a gesture similar to that performed in reality. The design of such a simulation environment requires a compromise between the realism of bio-mechanical models used, the accuracy and stability of computational algorithms for realtime haptic rendering. Modeling mechanical restraint involves the use of an hyperelastic model (St-Venant-Kirchhoff) and a specific dynamic finite element code (mass tensor formulation). In order to minimize the risk of damaging membranes during the injection, the needle must be removed quickly and safely. Furthermore, alignment of the pipette and puncture of the cell membrane require dexterous manipulation. To avoid those risks, the human-machine users interface provides an efficient haptic-based guidance tool. The different results are compared to experimental data. This comparison shows the effectiveness of the proposed physically-based model.
Hamid Ladjal Antoine Ferreira Jean-Luc Hanus
LIRIS CNRS UMR 5205, Universit′e Claude Bernard Lyon 1, France Laboratoire PRISME, ENSI Bourges, France
国际会议
长春
英文
1-6
2011-08-29（万方平台首次上网日期，不代表论文的发表时间）