Issue when creating an instrument with more than two sections #4685

scarponiv · 2024-04-26T15:30:56Z

scarponiv
Apr 26, 2024

Hello everyone,

I am facing some issues when trying to create an instrument with more than two sections. In such a case, an erratic motion can be observed.

To reproduce the issus, one may start from the basic example 3instruments.scn and modify it the following way:

I added a third section to the guidewire (I added line 37 to add a second straight section
<RodStraightSection name="StraightSection2" youngModulus="10000" nbEdgesCollis="25" nbEdgesVisu="98" length="490.0"/>
modified line 36 to maintain the same total straight length and the same number of visual and collision edges <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="25" nbEdgesVisu="98" length="490.0"/>
and added this section in line 40
<WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @StraightSection2 @SpireSection"/>.

You can find here the complete modified scene:

<?xml version='1.0'?>
<Node name='root' dt='0.05'  gravity='0 0 0'> 

    <RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Edge2QuadTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <VisualStyle displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings hideForceFields' />

 	<DefaultAnimationLoop />
 	<DefaultVisualManagerLoop/>


<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil)  ------------------------------ -->

	<Node name='topoLines_cath'>
        <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="40" nbEdgesVisu="120" length="600.0"/>
        <RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>        
        
        <WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/>
    
		<EdgeSetTopologyContainer name='meshLinesCath' />
		<EdgeSetTopologyModifier   name='Modifier' />
		<EdgeSetGeometryAlgorithms name='GeomAlgo'   template='Rigid3d' />
		<MechanicalObject template='Rigid3d' name='dofTopo1' />
	</Node>
	<Node name='topoLines_guide'>
        <RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="25" nbEdgesVisu="98" length="490.0"/>
        <RodStraightSection name="StraightSection2" youngModulus="10000" nbEdgesCollis="25" nbEdgesVisu="98" length="490.0"/>
        <RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
		
        <WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @StraightSection2 @SpireSection"/>
        
		<EdgeSetTopologyContainer name='meshLinesGuide' />
		<EdgeSetTopologyModifier   name='Modifier' />
		<EdgeSetGeometryAlgorithms name='GeomAlgo'   template='Rigid3d' />
		<MechanicalObject template='Rigid3d' name='dofTopo2' />
	</Node>
	<Node name='topoLines_coils'>
        <RodStraightSection name="StraightSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/>
        <RodSpireSection name="SpireSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>        
		
        <WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>
    
        <EdgeSetTopologyContainer name='meshLinesCoils' />
		<EdgeSetTopologyModifier   name='Modifier' />
		<EdgeSetGeometryAlgorithms name='GeomAlgo'   template='Rigid3d' />
		<MechanicalObject template='Rigid3d' name='dofTopo3' />
	</Node>
	

	<Node name='InstrumentCombined'>
		<EulerImplicitSolver rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' />
		<BTDLinearSolver subpartSolve='0' verification='0' verbose='0'/>
		<RegularGridTopology name='meshLinesCombined'
            nx='180' ny='1' nz='1'
            xmin='0.0' xmax='1.0'
            ymin='0' ymax='0'
            zmin='1' zmax='1'
		/>
		<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/> 

		<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' radius='1' printLog='0'/> 
		<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter' massDensity='0.00000155'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	

		<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' radius='0.9' printLog='0'/> 
		<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' massDensity='0.00000155'/> 	

		<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' radius='0.1' printLog='0'/> 
		<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' massDensity='0.000021'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->	

        <BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="0"
            timeSteps="9.1 17.1 17.55 18.05 18.6 19.05 19.55 20.05 20.5 21 21.45 21.9 22.65 23.1 23.55 24.05 24.55 25 25.45 25.95 26.4 27.1 27.55 28.05 28.55 29 29.5 29.95 30.4 30.9 31.4 31.85 32.35 33.05 33.5 34 34.45 34.9 35.4 35.85 36.35 36.8 37.25 37.7 38.2 38.65 39.4 39.85 40.3 40.7 41.2 41.65 42.1 42.55 43 43.4 44.1 44.55 45 45.45 45.9 46.3 46.75 47.2 47.65 48.1 48.55 49 49.65 50.1 50.5 50.9 51.35 51.75 52.2 52.6 53.05 53.5 53.95 54.4 54.85 55.5 55.9 59.1 66.15 66.6 67.05 67.45 67.9 68.35 68.8 69.25 69.65 70.1 70.55 71.2 71.6 72.05 72.5 72.95 73.4 77.6 81.9 87.4 87.75 88.1 88.45 88.75 89.1 89.45 89.75 90.1 90.6 90.9 91.25 91.6 91.95 92.3 92.6 92.95 93.25 93.6 93.95 94.25 94.6 94.95 95.4 95.75 96.1 96.4 96.75 97.05 97.35 97.7 98.05 98.4 98.7 99.15 99.5 99.8 100.15 100.45 100.75 101.1 101.4 101.75 102.05 102.55 102.85 103.2 103.5 103.8 104.1 104.4 104.75 105.05 105.4 105.7 106 106.45 106.75 107.1 107.4 107.7 108 108.35 108.65 108.95 109.25 109.55 110 110.3 110.6 110.9 111.2 111.45 111.75 112.05 112.35 112.65 113.1 113.35 113.65 113.95 114.2 114.5 114.8 115.1 115.35 115.65 116.1 116.35 125.8 128.2 131.6 131.8 132 132.25 132.45 132.65 132.85 133.05 133.3 133.5 133.8 134 134.2 134.4 134.6 134.8 135 135.2 135.4 135.6 135.8 136 136.3 136.5 136.75 136.95 137.15 137.35 137.5 137.7 137.9 138.15 138.3 138.6 138.85 139 139.2 139.4 139.6 139.8 140 140.15 140.35 140.55 140.75 140.95 141.25 141.45 141.65 141.85 142.05 142.25 142.45 142.65 142.85 143.05 143.25 143.45 143.65 143.85 144.15 144.3 144.5 144.7 144.9 145.1 145.3 145.45 145.65 145.95 146.1 146.3 146.5 146.7 146.9 147.1 147.25 147.45 147.65 147.85 148.05 148.25 148.4 148.7 148.9 149.1 149.25 149.45 149.65 149.85 150 150.2 150.35 150.55 150.75 150.9 151.05 151.3 151.45 151.6 151.8 151.95 152.1 152.25 152.4 152.65 152.8 153 153.15 153.3 153.45 153.6 153.75 153.9 154.1 154.25 154.4 154.6 154.75 154.9 155.1 155.25 155.4 155.55 155.7 155.85 156 156.15 156.4 156.55 156.7 156.85 157 157.15 157.3 157.45 157.6 157.75 157.9 158.05 159 160.9 163.4 163.55 163.7 163.85 164.1 164.25 164.4 164.55 164.75 164.9 165.05 165.2 165.35 165.5 165.65 165.8 165.95 166.15 166.35 166.5 166.7 166.85 167 167.15 167.3 167.45 167.65 167.8 167.95 168.1 168.25 168.45 168.6 168.8 169 169.15 169.3 169.45 169.6 169.8 169.95 170.1 170.25 170.4 170.55 170.7 170.95 171.1 171.25 171.4 171.55 171.75 171.9 172.05 172.2 172.45 172.6 172.75 172.9 173.1 173.25 185.8"
            actions="1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 9 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 10 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 8 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 1" 
        />

		<InterventionalRadiologyController template='Rigid3d' name='IRController' printLog='0' xtip='1 0 0'  step='3' rotationInstrument='0 0 0' 
            controlledInstrument='0' startingPos='0 0 0 0 -0.7071068 0 0.7071068' speed='2' instruments='InterpolCatheter InterpolGuide InterpolCoils' />

		<FixedConstraint name='FixedConstraint' indices='0' />
        <RestShapeSpringsForceField  points='@IRController.indexFirstNode' stiffness='1e8' angularStiffness='1e8'   />

		<Node name='VisuCatheter' activated='true'>
			<MechanicalObject name='Quads' />
			<QuadSetTopologyContainer  name='ContainerCath' />
			<QuadSetTopologyModifier   name='Modifier' />
			<QuadSetGeometryAlgorithms name='GeomAlgo'  template='Vec3d' />
			<Edge2QuadTopologicalMapping nbPointsOnEachCircle='10' radius='2' input='@../../topoLines_cath/meshLinesCath' output='@ContainerCath' flipNormals='true'/>

			<AdaptiveBeamMapping  name='VisuMapCath' useCurvAbs='1' printLog='0' interpolation='@../InterpolCatheter' input='@../DOFs' output='@Quads' isMechanical='false'  />

			<Node name='VisuOgl' activated='true'>
				<OglModel name='Visual' color='0.7 0.7 0.7'  quads='@../ContainerCath.quads' material='texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20'/>
				<IdentityMapping input='@../Quads' output='@Visual'/>
			</Node>	
		</Node>
	
		<Node name='VisuGuide' activated='true'>
			<MechanicalObject name='Quads' />
			<QuadSetTopologyContainer  name='ContainerGuide' />
			<QuadSetTopologyModifier   name='Modifier' />
			<QuadSetGeometryAlgorithms name='GeomAlgo'  template='Vec3d' />
			<Edge2QuadTopologicalMapping nbPointsOnEachCircle='10' radius='1' input='@../../topoLines_guide/meshLinesGuide' output='@ContainerGuide'  flipNormals='true' listening='true'/> 
			<AdaptiveBeamMapping  name='visuMapGuide' useCurvAbs='1' printLog='0' interpolation='@../InterpolGuide' input='@../DOFs' output='@Quads' isMechanical='false' />
			<Node name='VisuOgl'>
				<OglModel name='Visual' color='0.2 0.2 0.8'  material='texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20' quads='@../ContainerGuide.quads'/>
				<IdentityMapping input='@../Quads' output='@Visual'/>
			</Node>		
		</Node> 
	   
		<Node name='VisuCoils' activated='true'>
			<MechanicalObject name='Quads'/>
			<QuadSetTopologyContainer  name='ContainerCoils' />
			<QuadSetTopologyModifier   name='Modifier' />
			<QuadSetGeometryAlgorithms name='GeomAlgo'  template='Vec3d' />
			<Edge2QuadTopologicalMapping nbPointsOnEachCircle='10' radius='0.3'  input='@../../topoLines_coils/meshLinesCoils' output='@ContainerCoils'  flipNormals='true' listening='true' /> 
			<AdaptiveBeamMapping  name='visuMapCoils' useCurvAbs='1' printLog='0' interpolation='@../InterpolCoils' input='@../DOFs' output='@Quads' isMechanical='false' />
			<Node name='VisuOgl'>
				<OglModel name='Visual' color='0.2 0.8 0.2'  material='texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20' quads='@../ContainerCoils.quads'/>
				<IdentityMapping input='@../Quads' output='@Visual'/>
			</Node>
		</Node>
	</Node>
	
</Node>

I am using SOFA v23.12.0 and BeamAdapter v23.12.
Is there any additional line I should modify in order to add the third section? @epernod , @hugtalbot do you have any idea?

Thanks a lot for your help!

epernod · 2024-04-28T20:25:14Z

epernod
Apr 28, 2024
Maintainer

Hi @scarponiv ,

what bad behavior are you experiencing compare to the 3instrumentsCollis scene?

Best regards

3 replies

hugtalbot Apr 29, 2024
Maintainer

I updated @scarponiv 's comment : I am facing some issues when trying to create an instrument with more than two sections. In such a case, an erratic motion can be observed.

scarponiv Apr 29, 2024
Author

Thank you @hugtalbot for the clarification!

hugtalbot Jul 15, 2024
Maintainer

I created the issue #4833 to keep track of the problem

@scarponiv · 2024-09-16T06:15:04Z

github-actions[bot]
bot Sep 16, 2024

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@scarponiv
Feedback has been given to you by the project reviewers, however we have not received a response from you. Without further news in the coming weeks, this discussion will be automatically closed in order to keep this forum clean and fresh 🌱 Thank you for your understanding

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@scarponiv · 2024-11-25T06:16:44Z

github-actions[bot]
bot Nov 25, 2024

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@scarponiv
In accordance with our forum management policy, the last reply is more than 4 months old and is therefore closed. Our objective is to keep the forum up to date and offer the best support experience.

Please feel free to reopen it if the topic is still active by providing us with an update. Please feel free to open a new thread at any time - we'll be happy to help where and when we can.

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Issue when creating an instrument with more than two sections #4685

scarponiv Apr 26, 2024

Replies: 3 comments · 3 replies

epernod Apr 28, 2024 Maintainer

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