Target point manipulation inside a deformable object by a robotic system is necessary in many medical and industrial applications such as breast biopsy, drug injection, suturing, precise machining of deformable objects etc. However, this is a challenging problem because of the difficulty of imposing the motion of the internal target point by a finite number of actuation points located at the bo...

A novel approach is proposed to analyzing and tracking the motion of structured deformable shapes, which consist of multiple correlated deformable subparts. Since this problem is high dimensional in nature, existing methods are plagued either by the inability to capture the detailed local deformation or by the enormous complexity induced by the curse of dimensionality. Taking advantage of the s...

In this paper, a displacement-based, variationally consistent, two variable refined theory for shear deformable beams is presented. The beam is assumed to be of linearly elastic, homogeneous, isotropic material and has a uniform rectangular cross-section. In this theory, the beam axial displacement and beam transverse displacement consist of bending components and shearing components. The assum...

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...