This thesis presents novel algorithms for deformable dynamics, collision detection and contact resolution between reduced nonlinear 3D deformable objects, for use in interactive computer graphics and haptics. The deformable models investigated are elastic, volumetric, and capable of undergoing large deformations. Each mesh vertex of a general 3D deformable object has three degrees of freedom. N...

We present a new approach to shape-based segmentation and tracking of multiple, deformable anatomical structures in cardiac MR images. We propose to use an energy-minimizing geometrically deformable template (GDT) which can deform into similar shapes under the in uence of image forces. The degree of deformation of the template from its equilibrium shape is measured by a penalty function associa...

The rapid development of computer and noninvasive sensor technologies is revolutionizing medicine, offering scientists and physicians powerful new investigative and diagnostic tools. Computer-based medical image analysis is an especially challenging task which has not kept pace with the ability to acquire digital images in various modalities. In response to this challenge, we have been developi...

Recovery of unstructured 3D data with deformable models has been the subject of many studies over the last ten years. In particular, in medical image understanding, deformable models are useful to get a precise representation of anatomical structures. However, general deformable models involve large linear systems to solve when dealing with high resolution 3D images. The advantage of parametric...

Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track, and manipulate deformable objects. In this paper, we introduce a predictive, model-driven approach to address this challenge, using a pre-computed, simulated d...

Many tasks in robot-assisted surgery, food handling, manufacturing, and other applications require planning and controlling the motions of manipulators or other devices that must interact with highly deformable objects. We present a unified approach for motion planning under uncertainty in deformable environments that maximizes probability of success by accounting for uncertainty in deformation...

A static analysis of deformable object grasping based on bounded force closure is presented. There are many manipulative operations that deal with deformable objects in manufacturing processes. Manipulative operations for these objects are often performed by utilizing their deformation actively while the operations may result in failure because of unexpected deformation of the objects during th...

This paper proposes a non-self-intersecting multiscale deformable surface model with an adaptive remeshing capability. The model is specifically designed to extract the three-dimensional boundaries of topologically simple but geometrically complex anatomical structures, especially those with deep concavities such as the brain, from volumetric medical images. The model successfully addresses thr...

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead explicitly defining the features by geometries or functions, robot automatically learns visual from processed vision data. Our method simultaneously generates – same data both and interaction matrix that relates them to control inputs. Extraction feature vector commands is...