In the example of 3instruments_collis.scn, how to make the blood vessel flexible? #5645

L-ZeYun · 2025-07-30T08:52:11Z

L-ZeYun
Jul 30, 2025

In actual interventional surgeries, the blood vessel wall is flexible and deformable. When a sheath is inserted, the blood vessel will undergo deformation. How can I modify this example to make the blood vessel flexible?
Thanks!

L-ZeYun · 2025-08-11T09:27:31Z

L-ZeYun
Aug 11, 2025
Author

Changing the blood vessels to be elastic doesn't work. Why is that?
I'm extremely grateful for any help. The code is as follows:

<VisualStyle displayFlags="showVisualModels showBehaviorModels showCollisionModels hideMappings hideForceFields" />
<DefaultVisualManagerLoop/>

<FreeMotionAnimationLoop />
<LCPConstraintSolver mu="0.1" tolerance="1e-4" maxIt="500" build_lcp="false" />

<CollisionPipeline depth="6" verbose="1" draw="0"/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="localmindistance" alarmDistance="2" contactDistance="1" angleCone="0.5" coneFactor="0.5" />
<CollisionResponse name="Response" response="FrictionContactConstraint" />


<Node name="topoLines_cath">
	<!--硬质硅胶 E = 10000 MPa // 1550 Kg/m3-->
    <RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/><!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	
    <RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>        
    
    <WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->		

	<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" massDensity="0.00000155" radius="0.9" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	
    <RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
	
    <WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @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" massDensity="0.000021" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
    <RodSpireSection name="SpireSection" youngModulus="168000" massDensity="0.000021" radius="0.1" 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"/> 
	<AdaptiveBeamForceFieldAndMass name="CatheterForceField" interpolation="@InterpolCatheter" /> 

	<WireBeamInterpolation name="InterpolGuide" WireRestShape="@../topoLines_guide/GuideRestShape"/> 
	<AdaptiveBeamForceFieldAndMass name="GuideForceField" interpolation="@InterpolGuide"/> 	

	<WireBeamInterpolation name="InterpolCoils" WireRestShape="@../topoLines_coils/CoilRestShape"/> 
	<AdaptiveBeamForceFieldAndMass name="CoilsForceField" interpolation="@InterpolCoils"/> 	

    <BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="1"
        timeSteps="4.3 7.5 7.65 7.85 8.05 8.25 8.45 8.7 8.9 9.2 9.4 9.6 9.8 10 10.25 10.4 10.65 10.85 11.05 11.25 11.45 11.7 11.95 12.2 12.4 12.6 12.8 13 13.2 13.4 13.6 13.85 14.05 14.35 14.55 14.75 14.95 15.15 15.35 15.5 15.7 15.85 16.1 16.25 16.4 16.55 16.7 16.85 17 17.2 17.35 17.55 17.7 17.85 17.95 18.1 18.25 18.35 18.5 18.65 18.85 19 19.2 19.35 19.45 19.6 19.75 19.95 20.1 20.25 20.4 20.55 20.7 20.85 21.35 22.35 23.05 23.65 25 25.1 25.2 25.35 25.5 25.65 25.8 29 30.5 31.9 33.85 33.95 34.1 34.2 34.3 34.45 34.55 34.65 34.8 34.95 35.05 35.15 35.3 35.4 35.5 35.6 35.7 35.8 35.95 36.1 36.2 36.3 36.45 36.5 36.65 36.75 36.9 37 37.1 37.2 37.3 37.45 37.55 37.65 37.75 37.85 38 38.1 38.2 38.3 38.45 38.55 38.65 38.8 38.9 39.05 39.15 39.3 39.4 39.55 39.65 39.7 39.85 39.9 40.1 40.2 40.3 40.4 40.55 40.65 40.8 40.9 41.05 41.15 41.3 41.4 41.6 41.7 41.8 41.95 42 42.1 42.2 42.35 42.45 42.6 42.65 42.8 42.95 43.05 43.2 43.3 43.45 43.55 43.65 43.8 43.9 44 44.15 44.25 44.4 44.55 45.5 47.35 47.45 47.55 47.65 47.7 47.8 47.9 48 50.4 52.35 52.45 52.55 52.65 52.75 52.9 53 53.1 53.2 53.3 53.4 54.35 56.05 56.15 56.2 56.3 56.4 56.5 56.6 56.65 56.7 57.95 58.6 59.45 59.55 59.6 59.7 59.8 59.9 59.95 60.05 60.1 60.15 60.25 60.3 60.4 60.5 60.6 60.65 60.75 60.85 60.95 61 61.1 61.15 61.2 61.3 61.4 61.5 61.65 61.75 61.85 62 62.15 62.25 62.35 62.45 62.55 62.65 62.75 62.85 62.9 63 63.05 63.15 63.2 63.25 63.35 63.4 63.5 63.6 63.7 63.75 63.85 63.95 64.05 64.2 64.3 64.35 64.45 64.55 64.6 64.7 64.8 64.9 65 65.1 65.2 65.3 65.45 65.55 65.65 65.75 65.8 65.9 72.15 73.6 73.7 73.8 73.85 73.95 74 74.1 74.25 74.35 74.45 74.55 75.4 76.1 76.7 77.65 79.85 82 82.85 84.25 84.35 84.45 84.55 84.65 84.75 84.8 84.9 84.95 85.1 85.2 85.3 85.4 85.5 85.6 85.7 85.8 85.9 86 86.1 86.2 86.3 86.4 86.45 86.55 86.65 86.75 86.8 86.9 87 87.15 87.25 87.3 87.4 87.5 87.6 87.7 87.75 87.85 87.95 88 88.1 88.25 88.35 88.45 88.55 88.65 88.75 88.85 88.95 89.05 89.15 89.25 89.35 89.5 89.6 89.75 89.85 89.95 90.05 90.15 90.75 92.4 92.5 92.6 92.7 94.45 97.25 98.1 99.3 99.4 99.5 99.55 99.65 99.7 99.8 99.85 99.95 100.05 100.15 100.2 100.3 100.35 100.45 100.5 100.55 100.65 100.7 100.8 100.85 100.95 101.05 101.15 101.2 101.25 101.35 101.4 101.5 101.55 101.65 101.7 101.75 101.85 101.9 102 102.05 102.15 102.2 102.3 102.35 102.45 102.5 102.6 102.65 102.7 102.8 102.85 102.95 103.05 103.1 103.2 103.25 103.35 103.4 103.5 103.55 103.65 103.7 103.75 103.85 103.95 104.05 104.1 104.2 104.25 104.3 104.4 104.45 104.55 104.6 104.7 104.75 104.85 104.95 105 105.1 105.15 105.25 105.3 105.4 105.45 105.55 105.6 105.65 105.75 105.85 105.95 106 106.05 106.15 106.2 106.3 106.35 106.45 106.5 106.6 106.65 106.75 106.85 106.9 107 107.05 107.15 107.2 107.3 107.35 107.45 107.5 107.6 107.7 107.75 107.85 107.9 107.95 108.05 108.1 108.2 108.25 108.3 108.4 108.45 108.55 108.65 108.7 108.8 108.85 108.95 109 109.1 109.15 109.25 109.3 109.35 109.45 109.55 109.65 109.7 109.8 109.85 109.9 110 110.05 110.15 110.2 110.3 110.35 110.45 110.55 110.6 110.7 110.75 110.8 110.9 110.95 111.05 111.1 111.2 111.25 111.35 111.45 111.5 111.6 111.65 111.75 111.8 111.9 111.95 112.05 112.1 112.2 112.25 112.35 112.4 112.5 112.55 112.65 112.7 112.75 112.85 112.9 113 113.1 113.15 113.2 113.3 113.4 113.45 113.55 113.6 113.65 113.75 113.8 113.9 113.95 114 114.1 114.2 114.25 114.35 114.4 114.5 114.6 114.65 114.75 114.85 114.9 114.95 115.05 115.1 115.2 115.3 115.35 115.4 115.5 115.6 115.65 115.75 115.8 115.9 116 116.05 116.1 116.2 116.3 116.4 116.5 116.55 116.6 116.7 116.8 116.85 116.95 117.05 117.1 117.15 117.25 117.35 117.45 117.5 117.6 117.65 117.75 117.85 117.9 117.95 118.05 118.15 118.25 118.35 118.4 118.5 122.65"
        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 1 1 9 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 1 1 1 4 4 4 4 4 4 4 4 4 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 8 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 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 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 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"
    />
	<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" />

	<LinearSolverConstraintCorrection printLog="false" wire_optimization="true"/>

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

	<Node name="Collis" activated="true">
			<EdgeSetTopologyContainer name="collisEdgeSet" />
			<EdgeSetTopologyModifier   name="colliseEdgeModifier" />
			<MechanicalObject name="CollisionDOFs"/>
			<MultiAdaptiveBeamMapping  name="collisMap"  controller="../IRController" useCurvAbs="1" printLog="0"/> 
			<LineCollisionModel proximity="0.0" group="1"/>
			<PointCollisionModel proximity="0.0" group="1"/>
	</Node>	

	<Node name="VisuCatheter" 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"/>
		<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="@Visual"  />
	</Node>

	<Node name="VisuGuide" activated="true">
		<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"/>
		<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="@Visual" />
	</Node> 
   
	<Node name="VisuCoils" activated="true">
		<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"/>
		<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="@Visual" />
	</Node>   
</Node>

<Node name="CollisionModel"> 
	
	

	<MeshVTKLoader name="loader" filename="../mesh/oo.vtk" translation="2.28 172.41 -1398" triangulate="true" flipNormals="1"/>
	<TetrahedronSetTopologyContainer src="@loader" />
	<TetrahedronSetTopologyModifier />
	<TetrahedronSetGeometryAlgorithms template="Vec3d" />

	<MechanicalObject name="DOFs1" position="0 0 400" scale="1" ry="270"/>	

	<UniformMass mass="0.1" />
	<TetrahedralCorotationalFEMForceField youngModulus="500" poissonRatio="0.3" />

	<EulerImplicitSolver />
	<CGLinearSolver iterations="50" tolerance="1e-8" />

	<FixedConstraint indices="0 1 2" />

	<PointCollisionModel />
	<LineCollisionModel />
	<TriangleCollisionModel />

	<Node name="Visual">
		<OglModel name="visu" src="@../loader" color="1 0 0 0.3" scale="1" ry="270"/>
		<BarycentricMapping input="@../DOFs1" output="@visu" />
	</Node>
	
</Node>

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In the example of 3instruments_collis.scn, how to make the blood vessel flexible? #5645

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In the example of 3instruments_collis.scn, how to make the blood vessel flexible? #5645

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L-ZeYun Jul 30, 2025

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L-ZeYun Aug 11, 2025 Author

L-ZeYun
Jul 30, 2025

L-ZeYun
Aug 11, 2025
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