Publications of Yinoussa Adagolodjo

Publications HAL de adagolodjo de la structure shacra;mimesis

2016

Conference papers

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titre
Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues
auteur
Yinoussa Adagolodjo, Laurent Goffin, Michel De Mathelin, Hadrien Courtecuisse
article
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) , Oct 2016, Daejeon, South Korea. <http://www.iros2016.org/>
resume
This paper introduces a new method for automatic robotic needle steering in deformable tissues. The main contribution relies on the use of an inverse Finite Element (FE) simulation to control an articulated robot interacting with deformable structures. In this work we consider a flexible needle, embedded in the end effector of a 6 arm Mitsubishi RV1A robot, and its insertion into a silicone phantom. Given a trajectory on the rest configuration of the silicone phantom, our method provides in real-time the displacements of the articulated robot which guarantee the permanence of the needle within the predefined path, taking into account any undergoing deformation on both the needle and the trajectory itself. A forward simulation combines i) a kinematic model of the robot, ii) FE models of the needle and phantom gel iii) an interaction model allowing the simulation of friction and puncture force. A Newton-type method is then used to provide the displacement of the robot to minimize the distance between the needle’s tip and the desired trajectory. We validate our approach with a simulation in which a virtual robot can successfully perform the insertion while both the needle and the trajectory undergo significant deformations.
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-01353925/file/iros2016.pdf BibTex

2015

Conference papers

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titre
Haptic Rendering of Hyperelastic Models with Friction
auteur
Hadrien Courtecuisse, Yinoussa Adagolodjo, Hervé Delingette, Christian Duriez
article
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany. IEEE, pp.591-596, 2015, <10.1109/IROS.2015.7353432>
resume
— This paper presents an original method for inter-actions’ haptic rendering when treating hyperelastic materials. Such simulations are known to be difficult due to the non-linear behavior of hyperelastic bodies; furthermore, haptic constraints enjoin contact forces to be refreshed at least at 1000 updates per second. To enforce the stability of simulations of generic objects of any range of stiffness, this method relies on implicit time integration. Soft tissues dynamics is simulated in real time (20 to 100 Hz) using the Multiplicative Jacobian Energy Decomposition (MJED) method. An asynchronous preconditioner, updated at low rates (1 to 10 Hz), is used to obtain a close approximation of the mechanical coupling of interactions. Finally, the contact problem is linearized and, using a specific-loop, it is updated at typical haptic rates (around 1000 Hz) allowing this way new simulations of prompt stiff-contacts and providing a continuous haptic feedback as well.
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-01184113/file/IROS15_1122_FI.pdf BibTex