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[src] Use a force-based constraint resolution and integration framework for needle insertion #121

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de5d4a3
[examples] Remove the impulseBased flag
th-skam Oct 6, 2026
895d4eb
[src] Add check for impulse conversion in InsertionAlgorithm
th-skam Oct 6, 2026
288e223
[examples] Set needle to 2nd order
th-skam Oct 6, 2026
c2a8956
Use vertexMass instead of totalMass for the needle
th-skam Oct 6, 2026
e0cf3ed
Lighten needle
th-skam Oct 6, 2026
be72e69
Adjust density of tissue
th-skam Oct 6, 2026
71c1d5e
Apply physical parameters to scenes
th-skam Oct 6, 2026
2e192b7
Adjust puncture threshold
th-skam Oct 6, 2026
238bb03
Adjust needle initial pose
th-skam Oct 6, 2026
e2dfcf1
Put dt to 0.01 again
th-skam Oct 6, 2026
f91ca33
restore recorded states
th-skam Oct 6, 2026
9c4feae
Correct initial pose
th-skam Oct 6, 2026
f10c35e
Adjust trajectory
th-skam Oct 6, 2026
a4b8c5a
Fix bad angular stiffness and non-unit quaternion
th-skam Oct 6, 2026
47c677f
Fix orientation of needle
th-skam Oct 6, 2026
7dff8d1
Reduce needle masses
th-skam Oct 6, 2026
084763b
Fix haptics soft needle
th-skam Oct 6, 2026
2e202b7
Adjust forceCoef
th-skam Oct 6, 2026
d9f9285
Apply proper transformation for rigid frames and the needle
th-skam Oct 7, 2026
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51 changes: 30 additions & 21 deletions examples/NeedleInsertion.py
View file
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Original file line number Diff line number Diff line change
@@ -1,33 +1,38 @@
import math
import Sofa

g_needleLength=0.100 #(m)
g_needleNumberOfElems=20 #(# of edges)
g_needleBaseOffset=[0.04,0.04,0]
g_needleBaseOffset=[0.04,0.04,0.05]
g_needleBaseOrientation=[0, 0.706825, 0, 0.707388]
g_needleDirection=[0.000796202173, 0, -0.999999683]
g_needleRadius = 0.001 #(m)
g_needleMechanicalParameters = {
"radius":g_needleRadius,
"youngModulus":1e12,
"youngModulus":2e11,
"poissonRatio":0.3
}
g_needleTotalMass=0.01
g_needleDensity = 785 #(kg/m^3)
g_needleTotalMass = g_needleDensity * math.pi * g_needleRadius**2 * g_needleLength

g_gelRegularGridParameters = {
"n":[6, 6, 6],
"min":[-0.125, -0.125, -0.350],
"max":[0.125, 0.125, -0.100]
} #Again all in mm
g_gelMechanicalParameters = {
"youngModulus":1e6,
"poissonRatio":0.45,
"youngModulus":1e4,
"poissonRatio":0.3,
"method":"large"
}
g_gelTotalMass = 1
g_gelDensity = 1000 #(kg/m^3, soft tissue)
g_cubeColor=[0.8, 0.34, 0.34, 0.3]
g_gelFixedBoxROI=[-0.130, -0.130, -0.360, 0.130, 0.130, -0.300 ]


# Function called when the scene graph is being created
def createScene(root):
root.gravity=[0,0,-9.81]
root.gravity=[0,0,0]
root.dt = 0.01

root.addObject("RequiredPlugin",pluginName=['Sofa.Component.AnimationLoop',
Expand Down Expand Up @@ -79,26 +84,30 @@ def createScene(root):


needle = root.addChild("Needle")
needle.addObject("EulerImplicitIntegrationScheme", firstOrder=True)
needle.addObject("EulerImplicitIntegrationScheme")
needle.addObject("EigenSparseLU", name="LinearSolver", template="CompressedRowSparseMatrixd")
needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[i * g_needleLength/(g_needleNumberOfElems) + g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]] for i in range(g_needleNumberOfElems + 1)]
needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] for i in range(g_needleNumberOfElems + 1)]
, edges=[[i, i+1] for i in range(g_needleNumberOfElems)])

needle.addObject("EdgeSetTopologyModifier", name="modifier")
needle.addObject("PointSetTopologyModifier", name="modifier2")

needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", showObjectScale=0.0002, showObject=False, drawMode=1)
needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] + g_needleBaseOrientation for i in range(g_needleNumberOfElems + 1)], showObjectScale=0.0002, showObject=False, drawMode=1)

needle.addObject("UniformMass", totalMass=g_needleTotalMass)
# Per-unit-mass inertia of a cylindrical beam segment; the RigidMass default (identity) is ~1e5 too large
segmentLength = g_needleLength / g_needleNumberOfElems
axialInertia = g_needleRadius**2 / 2
bendingInertia = g_needleRadius**2 / 4 + segmentLength**2 / 12
nodeMass = g_needleTotalMass / (g_needleNumberOfElems + 1)
Ixx, Iyy, Izz = axialInertia, bendingInertia, bendingInertia
needle.addObject("UniformMass", vertexMass=f"{nodeMass} 1 {Ixx} 0 0 0 {Iyy} 0 0 0 {Izz}")
needle.addObject("BeamFEMForceField", name="FEM", **g_needleMechanicalParameters)
needle.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver")

needleBase = needle.addChild("needleBase")
needleBase.addObject("PointSetTopologyContainer", name="Container_base", position=[0, 0, 0])
needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d",)
needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e8, angularStiffness=1e8,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster")

needleBase.addObject("SubsetMapping", indices="0")
needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d", position=[g_needleBaseOffset + g_needleBaseOrientation])
needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e9, angularStiffness=1e4,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster")
needleBase.addObject("RigidMapping", index=0, globalToLocalCoords=True)

needleBodyCollision = needle.addChild("bodyCollision")
needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container_body", src="@../Container")
Expand All @@ -110,7 +119,7 @@ def createScene(root):


needleTipCollision = needle.addChild("tipCollision")
needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleLength+g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]],template="Vec3d",)
needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleBaseOffset[k] + g_needleLength * g_needleDirection[k] for k in range(3)],template="Vec3d",)
needleTipCollision.addObject("PointGeometry",name="geom_tip",mstate="@mstate_tip")
needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems)

Expand Down Expand Up @@ -140,7 +149,7 @@ def createScene(root):


volume = root.addChild("Volume")
volume.addObject("EulerImplicitIntegrationScheme", impulseBased=True)
volume.addObject("EulerImplicitIntegrationScheme")
volume.addObject("EigenSimplicialLDLT", name="LinearSolver", template='CompressedRowSparseMatrixMat3x3d')
volume.addObject("TetrahedronSetTopologyContainer", name="TetraContainer", position="@../GelGridTopo/HexaTop.position")
volume.addObject("TetrahedronSetTopologyModifier", name="TetraModifier")
Expand All @@ -149,10 +158,10 @@ def createScene(root):
volume.addObject("MechanicalObject", name="mstate_gel", template="Vec3d")
volume.addObject("TetrahedronGeometry", name="geom_tetra", mstate="@mstate_gel", topology="@TetraContainer", draw=False)
volume.addObject("FastTetrahedralCorotationalForceField", name="FF",**g_gelMechanicalParameters)
volume.addObject("MeshMatrixMass", name="Mass",totalMass=g_gelTotalMass)
volume.addObject("MeshMatrixMass", name="Mass", massDensity=g_gelDensity)

volume.addObject("BoxROI",name="BoxROI",box=g_gelFixedBoxROI)
volume.addObject("RestShapeSpringsForceField", stiffness=1e6,points="@BoxROI.indices" )
volume.addObject("RestShapeSpringsForceField", stiffness=1e3, points="@BoxROI.indices")

volume.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver")

Expand Down Expand Up @@ -187,7 +196,7 @@ def createScene(root):
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=1600,
punctureForceThreshold=5,
tipDistThreshold=0.003,
drawcollision=True,
drawPointsScale=0.0001
Expand Down
51 changes: 30 additions & 21 deletions examples/NeedleInsertionCycles.py
View file
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Original file line number Diff line number Diff line change
@@ -1,33 +1,38 @@
import math
import Sofa

g_needleLength=0.100 #(m)
g_needleNumberOfElems=20 #(# of edges)
g_needleBaseOffset=[0.04,0.04,0]
g_needleBaseOffset=[0.04,0.04,0.02]
g_needleBaseOrientation=[0, 0.706825, 0, 0.707388]
g_needleDirection=[0.000796202173, 0, -0.999999683]
g_needleRadius = 0.001 #(m)
g_needleMechanicalParameters = {
"radius":g_needleRadius,
"youngModulus":1e11,
"youngModulus":2e11,
"poissonRatio":0.3
}
g_needleTotalMass=0.01
g_needleDensity = 785 #(kg/m^3)
g_needleTotalMass = g_needleDensity * math.pi * g_needleRadius**2 * g_needleLength

g_gelRegularGridParameters = {
"n":[8, 8, 8],
"min":[-0.125, -0.125, -0.350],
"max":[0.125, 0.125, -0.100]
} #Again all in mm
g_gelMechanicalParameters = {
"youngModulus":8e5,
"poissonRatio":0.45,
"youngModulus":1e4,
"poissonRatio":0.3,
"method":"large"
}
g_gelTotalMass = 1
g_gelDensity = 1000 #(kg/m^3, soft tissue)
g_cubeColor=[0.8, 0.34, 0.34, 0.3]
g_gelFixedBoxROI=[-0.130, -0.130, -0.360, 0.130, 0.130, -0.300 ]


# Function called when the scene graph is being created
def createScene(root):
root.gravity=[0,0,-9.81]
root.gravity=[0,0,0]
root.dt = 0.01

root.addObject("RequiredPlugin",pluginName=['Sofa.Component.AnimationLoop',
Expand Down Expand Up @@ -95,26 +100,30 @@ def createScene(root):


needle = root.addChild("Needle")
needle.addObject("EulerImplicitIntegrationScheme", firstOrder=True)
needle.addObject("EulerImplicitIntegrationScheme")
needle.addObject("EigenSparseLU", name="LinearSolver", template="CompressedRowSparseMatrixd")
needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[i * g_needleLength/(g_needleNumberOfElems) + g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]] for i in range(g_needleNumberOfElems + 1)]
needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] for i in range(g_needleNumberOfElems + 1)]
, edges=[[i, i+1] for i in range(g_needleNumberOfElems)])

needle.addObject("EdgeSetTopologyModifier", name="modifier")
needle.addObject("PointSetTopologyModifier", name="modifier2")

needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", showObjectScale=0.0002, showObject=True, drawMode=1)
needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] + g_needleBaseOrientation for i in range(g_needleNumberOfElems + 1)], showObjectScale=0.0002, showObject=True, drawMode=1)

needle.addObject("UniformMass", totalMass=g_needleTotalMass)
# Per-unit-mass inertia of a cylindrical beam segment; the RigidMass default (identity) is ~1e5 too large
segmentLength = g_needleLength / g_needleNumberOfElems
axialInertia = g_needleRadius**2 / 2
bendingInertia = g_needleRadius**2 / 4 + segmentLength**2 / 12
nodeMass = g_needleTotalMass / (g_needleNumberOfElems + 1)
Ixx, Iyy, Izz = axialInertia, bendingInertia, bendingInertia
needle.addObject("UniformMass", vertexMass=f"{nodeMass} 1 {Ixx} 0 0 0 {Iyy} 0 0 0 {Izz}")
needle.addObject("BeamFEMForceField", name="FEM", **g_needleMechanicalParameters)
needle.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver")

needleBase = needle.addChild("needleBase")
needleBase.addObject("PointSetTopologyContainer", name="Container_base", position=[0, 0, 0])
needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d",)
needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e8, angularStiffness=1e8,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster")

needleBase.addObject("SubsetMapping", indices="0")
needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d", position=[g_needleBaseOffset + g_needleBaseOrientation])
needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e9, angularStiffness=1e4,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster")
needleBase.addObject("RigidMapping", index=0, globalToLocalCoords=True)

needleBodyCollision = needle.addChild("bodyCollision")
needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container_body", src="@../Container")
Expand All @@ -126,7 +135,7 @@ def createScene(root):


needleTipCollision = needle.addChild("tipCollision")
needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleLength+g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]],template="Vec3d",)
needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleBaseOffset[k] + g_needleLength * g_needleDirection[k] for k in range(3)],template="Vec3d",)
needleTipCollision.addObject("PointGeometry",name="geom_tip",mstate="@mstate_tip")
needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems)

Expand Down Expand Up @@ -156,7 +165,7 @@ def createScene(root):


volume = root.addChild("Volume")
volume.addObject("EulerImplicitIntegrationScheme", impulseBased=True)
volume.addObject("EulerImplicitIntegrationScheme")
volume.addObject("EigenSimplicialLDLT", name="LinearSolver", template='CompressedRowSparseMatrixMat3x3d')
volume.addObject("TetrahedronSetTopologyContainer", name="TetraContainer", position="@../GelGridTopo/HexaTop.position")
volume.addObject("TetrahedronSetTopologyModifier", name="TetraModifier")
Expand All @@ -166,10 +175,10 @@ def createScene(root):
volume.addObject("TetrahedronGeometry", name="geom_tetra", mstate="@mstate_gel", topology="@TetraContainer", draw=False)
volume.addObject("PhongTriangleNormalHandler", name="InternalTriangles", geometry="@geom_tetra")
volume.addObject("FastTetrahedralCorotationalForceField", name="FF",**g_gelMechanicalParameters)
volume.addObject("MeshMatrixMass", name="Mass",totalMass=g_gelTotalMass)
volume.addObject("MeshMatrixMass", name="Mass", massDensity=g_gelDensity)

volume.addObject("BoxROI",name="BoxROI",box=g_gelFixedBoxROI)
volume.addObject("RestShapeSpringsForceField", stiffness=1e6,points="@BoxROI.indices" )
volume.addObject("RestShapeSpringsForceField", stiffness=1e3, points="@BoxROI.indices")

volume.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver")

Expand Down Expand Up @@ -204,7 +213,7 @@ def createScene(root):
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=200,
punctureForceThreshold=5,
tipDistThreshold=0.003,
drawcollision=True,
drawPointsScale=0.0001
Expand Down
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