Real-Time Finite Element Modeling for Microrobotic Injection Training
Résumé
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 user’s 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.