Geometric modeling and processing

Purpose: The current study aimed to systematically review the literature addressing the use of deep learning (DL) methods in intraoperative surgery applications, focusing on the data collection, the objectives of these tools and, more technically, the DL-based paradigms utilized. Methods: A literature search with classic databases was performed: we identified, with the use of specific keywords, a total of 996 papers. Among them, we selected 52 for effective analysis, focusing on articles published after January 2015. Results: The preliminary results of the implementation of DL in clinical setting are encouraging. Almost all the surgery sub-fields have seen the advent of artificial intelligence (AI) applications and the results outperformed the previous techniques in the majority of the cases. From these results, a conceptualization of an intelligent operating room (IOR) is also presented. Conclusion: This evaluation outlined how AI and, in particular, DL are revolutionizing the surgery field, with numerous applications, such as context detection and room management. This process is evolving years by years into the realization of an IOR, equipped with technologies perfectly suited to drastically improve the surgical workflow.

Keywords: deep learning , intraoperative , neural network , surgical workflow

The application of CAx tools in surgery is representing a breakthrough for clinical practice, both in terms of effectiveness and costs. Working directly on the patient's own diagnostic images, this approach provides powerful tools for pre-operative simulation, complex-surgery planning, quantitative evaluation of asymmetry or dysmorphism and for the design of the patient-specific instrumentation. To exploit its full potential, methodologies are being developed to automatize and simplify the existing tools and strategies, in order to make them available also to less experienced CAx users, or directly to the surgeons. With this aim, it is proposed a methodological procedure to automatically create a Statistical Shape Model of the cranial vault starting from a Training Set of pathologically unaffected adult crania. The Statistical Shape Model is useful as a template for a data-driven restoration of the physiological shape of the considered anatomy. The proposed procedure provides a reliable strategy for robust automatic detection of shape correspondence. Not requiring any user intervention, the number of samples in the Training Set can be increased at will to consequently increase the variability, and therefore the accuracy, of the resulting parametric model.

Keywords: CAx , Reverse engineering , Statistical Shape Model

In the original article, there was an error. A Conflict of Interest Statement was missed. A correction has been made to the Conflict of Interest section reporting the following detailed information.

Keywords: CBLO , ligaments , multibody , simulation , TPLO

The aim of the research is to develop an azimuthing contra-rotating propeller for commercial applications with a power of 2000 kW. The thruster system is designed especially to be installed on high speed crafts (HSCs) for passenger transport with a cruising speed of about 35-40 knots. The topic is very useful because the azimuth thruster solutions currently do not find commercial applications in naval units for passenger transport. The latter are heavy, not very efficient from a hydrodynamic point of view and suitable for maximum cruising speed of about 18-20 knots. The study is interesting because among the advantages that these solutions provide are the possibility of transmitting very high torques and to guarantee a much longer life cycle. In more detail, the propulsion is realized by using a C-drive configuration, with a first mechanical transmission realized by using bevel gears mounted in a frame inside the hull, and a second transmission realized by bevel gears housed in a profiled hull at the lower end of a support structure. In the profiled hull will be installed the shafts of the propellers, in a contra-rotating configuration. In order to optimize the system before its industrial use, a close power loop test bench has been studied and designed to test high power transmissions. The test configuration allows to implement a back-to-back connection between two identical azimuthing contra-rotating propellers. Moreover, the particular test bench allows to size the electric motor simply based on the dissipated power by the kinematic mechanisms. Since the efficiency of these systems are very high, it is not necessary to use large electric motors, thus managing to contain the operating costs of the testing phase. The most significant disadvantage is the need to have two identical transmissions with consequent increase in installation costs. Through the back-to-back test bench it was possible to study the increase in efficiency compared to traditional systems.

Keywords: azimuthing contra-rotating propeller , CAD modeling , experimental test , finite element analysis , POD , Thruster

The accurate location of the mid-sagittal plane is fundamental for the assessment of craniofacial dysmorphisms and for a proper corrective surgery planning. To date, these elaborations are carried out by skilled operators within specific software environments. Since the whole procedure is based on the manual selection of specific landmarks, it is time-consuming, and the results depend on the operators' professional experience. This work aims to propose a new automatic and landmark-independent technique which is able to extract a reliable mid-sagittal plane from 3D CT images. The algorithm has been designed to perform a robust evaluation, also in the case of large defect areas. The presented method is an upgraded version of a mirroring-and registration technique for the automatic symmetry plane detection of 3D asymmetrically scanned human faces, previously published by the authors. With respect to the published algorithm, the improvements here introduced concern both the objective function formulation and the method used to minimize it. The automatic method here proposed has been verified in the analysis of real craniofacial skeletons also with large defects, and the results have been compared with other recent technologies.

Keywords: Cranio-maxillofacial , Feature recognition , Medical imaging , Mid-sagittal plane , Symmetry analysis

Objectives: To investigate the influence of different resin composite and glass ionomer cement material combinations in a “bi-layer” versus a “single-layer” adhesive technique for class I cavity restorations in molars using numerical finite element analysis (FEA). Materials and Methods: Three virtual restored lower molar models with class I cavities 4 mm deep were created from a sound molar CAD model. A combination of an adhesive and flowable composite with bulk fill composite (model A), of a glass ionomer cement with bulk fill composite (model B) and of an adhesive with bulk fill composite (model C), were considered. Starting from CAD models, 3D-finite element (FE) models were created and analyzed. Solid food was modeled on the occlusal surface and slide-type contact elements were used between tooth surface and food. Polymerization shrinkage was simulated for the composite materials. Physiological masticatory loads were applied to these systems combined with shrinkage. Static linear analyses were carried out. The maximum normal stress criterion was adopted as a measure of potential damage. Results: All models exhibited high stresses principally located along the tooth tissues–restoration interfaces. All models showed a similar stress trend along enamel–restoration interface, where stresses up to 22 MPa and 19 MPa was recorded in the enamel and restoration, respectively. A and C models showed a similar stress trend along the dentin-restoration interface with a lower stress level in model A, where stresses up to 11.5 MPa and 7.5 MPa were recorded in the dentin and restoration, respectively, whereas stresses of 17 MPa and 9 MPa were detected for model C. In contrast to A and C models, the model B showed a reduced stress level in dentin, in the lower restoration layer and no stress on the cavity floor. Significance: FE analysis supported the positive effect of a “bi-layer” restorative technique in a 4 mm deep class I cavities in lower molars versus “single-layer” bulk fill composite technique.

Keywords: 3D-finite element analysis , GIC , Resin composites , Shrinkage , Stress

The key findings about the use of a MOOC (Massive Open Online Course) at University of Naples Federico II are shown. In particular, the Engineering Drawing course for Industrial Engineering students was the pilot to evaluate the benefits of new Web-Based Platforms and Environments in higher education. The combination of In-Class and On-Line lessons is defined “Blended Course” and can be attended by students both in traditional classrooms and On-Line. It was provided during the last four academic years allowing the use of new tools (e.g., multimedia contents, interactive files). Thanks to about 7000 students involved in this project, several data were gathered for statistics and analysis purposes. Therefore, the access to the MOOC was monitored and the correlation with the homework was examined. At the end of the course, the level of satisfaction of the students about the interaction with the new platform was evaluated. The analysis of the results provided useful hints for the updating of the course in order to improve skills and interactive experience.

Keywords: Distant learning , eLearning , Engineering design education , Interactive learning

Purpose: To examine the influence of different bulk and block composite and flowable and glass-ionomer material combinations in a multi-layer technique and in a unique technique, in deep Class I dental restorations. Methods: 3D CAD of the sound tooth were built-up from a CT scan dataset using reverse engineering techniques. Four restored tooth models with Class I cavity were virtually created from a CAD model of a sound tooth. 3D-finite element (FE) models were created and analyzed starting from CAD models. Model A with flowable resin composite restoring the lower layer and bulk-fill resin composite restoring the upper layer, model B with glass-ionomer cement (GIC) restoring the lower layer and bulk-fill resin composite restoring the upper layer, model C with block composite as the only restoring material and model D with bulk-fill resin composite as the only restoring material. Polymerization shrinkage was simulated with the thermal expansion approach. Physiologic masticatory loads were applied in combination with shrinkage effect. Nodal displacements on the lower surfaces of FE models were constrained in all directions. Static linear analyses were carried out. The maximum normal stress criterion was used to assess the influence of each factor. Results: Considering direct restoring techniques, models A, B and D exhibited a high stress gradient at the tooth/restorative material interface. Models A and D showed a similar stress trend along the cavity wall where a similar stress trend was recorded in the dentin and enamel. Model B showed a similar stress trend along enamel/restoration interface but a very low stress gradient along the dentin/restoration interface. Model C with a restoring block composite material showed a better response, with the lowest stress gradient at the dentin, filling block composite and enamel sides.

First aim of this paper is to describe a methodology developed to create virtual fragments of archeological archetypes in CAD (Computer Aided Design) environment. A simple Reverse Engineering (RE) technique was adopted to reconstruct the shape of vases allowing the archeologists, and so the CAD inexpert personnel, to use it. Moreover, another relevant aspect is the definition of a procedure to simulate shape errors on the virtual prototypes to make more realistic the results. The characteristics of the fragments to be reproduced were selected by means of Design of Experiment (DOE) techniques. So, an algorithm was implemented to simulate the shape error, related to the working operations, that represents the typical noise for the feature recognition of archeological findings. Furthermore, this algorithm can make more complex the hypotheses related to the Gaussian model of simulation of the error and can adapt the value of the shape error (i.e. increasing it) according to the data gathered in archaeological excavation. The case study was based on the definition of a catalogue of archetypes of the black Campanian vases studied and classified by the archeologist J.P. Morel. The procedure conceived was applied to five (among one hundred) vases of the virtual catalogue obtaining forty instances of fragments affected by errors and so creating virtual mock-ups of typical pieces which may be found in the archeological site considered for the case study.

Keywords: Archetype , Design of experiments , Geometric modeling , Profile reconstruction , Simulation of the shape and recognition errors

In this paper, a topological optimization procedure has been applied on a real component of the deck of a sailing multi-hull in order to find the internal shape that best save the material used in the manufacturing process without a relevant loss of structural rigidity. The multi-hull boat is a 16 feet length catamaran equipped with an asymmetric foil on both centerboards and with a symmetric foil on both rudders. The task of the analyzed object is to act as a cylindrical support for the screw that drives the rotation of the centerboard. The process adopted to manufacture this object is the Fused Deposition Modeling (FDM) technique, because of its high versatility and its relative low-cost impact. The aim of this work is to verify the applicability of FDM to structural naval component subjected to demanding loads during navigation and, at the same time, to investigate on the robustness of a topology optimization strategy in creating new shapes that recent additive manufacturing are able to create.

Keywords: CAD modeling , Fused deposition modeling , Topology optimization

Among rising technology in medical field, methods and solutions of reverse engineering have a high impact as a new possibility for improving the traditional processes to design prosthesis and orthoses. Furthermore, reverse engineering solutions allows managing a big amount of patient's data, which can be also exploited for making the medical assessment during rehabilitation activities more objective and measurable. In particular, innovative technologies permit to manage big amount of data coming from several IT devices in order to better understand the correlation between technical aspects and human factors. These IT devices can be exploited through customized software applications, which are able to combine many data types (e.g. 3D scanners, motion capture systems and pressure sensors). In this research work, the attention is focused on the design of lower limb prosthesis around the digital human model of the patient. We present a virtual platform composed by an ad-hoc developed application for customizing the prosthesis according to patients' life style and medical knowledge as well as for visualizing pressure on patient's limb while evaluating his/her gait in a unique virtual knowledge-guided environment. Such applications are conceived to be usable by non IT experts, and all information are directly visualized on the digital human model of the amputee. The first part of the paper introduces the whole platform to design lower limb prosthesis using low-cost technologies. Then, the virtual gait analysis tool is described. Finally, tests and conclusion are discussed.

Keywords: 3D modelling , Health informatics , Marker-less motion capture system , Pressure data , User centered design

This paper introduces a novel hybrid finite element (FE) formulation of shell element to enable assembly process simulation of compliant sheet-metal parts with higher efficiency and flexibility. Efficiency was achieved by developing both new hybrid quadrilateral and triangular elements. Quadrilateral element (QUAD+) was formulated by combining area geometric quadrilateral 6 (AGQ6) nodes and mixed interpolated tensorial components (MITC) to model membrane and bending/shear component respectively. Triangular element (TRIA+) was formulated by merging assumed natural deviatoric strain (ANDES) for membrane and MITC for bending/shear component. Flexibility was addressed by developing an open-source C++ code, enhanced by the OpenMP interface for multiprocessing programming. Tests and benchmarks were compiled and executed within Matlab using the MEX API interface. Extensive benchmark studies were accomplished to evaluate the performance of the proposed hybrid formulation and the shell formulations used in three FEM packages - ABAQUS, ANSYS and COMSOL- under static linear elastic condition with small strain assumption. It was observed that the proposed QUAD+ and TRIA+ elements performed better amongst the FE packages, especially when there was in-plane mesh distortion, with errors below 3%. It was also identified that the best efficiency is obtained by adopting dominant QUAD+ elements compared to the TRIA+ when working on complex geometries. This paper also contributes to present a wide set of benchmark studies required to verify new release of FE packages using shell element or evaluate the performance of new shell formulations.

Keywords: Benchmark study , Finite element modelling , Flexibility and efficiency , Sheet metal , Shell elements

Mathematical modeling of soft robots is complicated by the description of the continuously deformable three-dimensional shape that they assume when subjected to external loads. In this article we present the deformation space formulation for soft robots dynamics, developed using a finite element approach. Starting from the Cosserat rod theory formulated on a Lie group, we derive a discrete model using a helicoidal shape function for the spatial discretization and a geometric scheme for the time integration of the robot shape configuration. The main motivation behind this work is the derivation of accurate and computational efficient models for soft robots. The model takes into account bending, torsion, shear, and axial deformations due to general external loading conditions. It is validated through analytic and experimental benchmark. The results demonstrate that the model matches experimental positions with errors <1% of the robot length. The computer implementation of the model results in SimSOFT, a dynamic simulation environment for design, analysis, and control of soft robots.

Keywords: continuum robots , Cosserat rods , differential geometry , dynamics , mathematical modeling , soft robotics

The goal of this paper is to disseminate the main results achieved within the FlexARM project. The project deals with advanced modeling techniques and predictive control strategies for flexible mechanical systems intended to be used in remote tasks inside advanced nuclear fusion reactors. This article aims at underlying the main aspect of the FlexARM methodology and paves the way towards future research in the field.

Keywords: DEMO remote maintenance , Flexible mechanical systems , Modeling , Vibration control

In the current pre-concept phase of the European DEMO, integration studies of the systems in the Upper Port area are being carried out. In DEMO, the Upper Port of the Vacuum Vessel is extraordinarily large to allow for the vertical extraction of the Breeding Blanket segments. This requires a number of components inside and outside the port to be integrated with tight space constraints: The Upper Port structure and its annexes, the adjacent Toroidal and Poloidal Field Coils, the Thermal Shields, the piping connection to the Vacuum Vessel Pressure Suppression System, the Shield Plug and its inserts, the feeding pipework of the in-vessel components and part of the Breeding Blanket supporting structures. Apart from functional aspects, the design of these components is driven by considerations of structural integrity, maintainability and irradiation shielding, which are mutually competing in many areas. Several studies were conducted on the design of the Upper Port and the required configuration of the components within. The present article describes the development approach, the studied options and the respective results, the identified issues as well as the proposed engineering solutions, in particular with respect to the mechanical design of the Upper Port and the integrated Shield Plug.

Keywords: CAD , DEMO , Integration , Upper Port , Vacuum vessel

In this work we present the latest progresses (September 2018) in the conceptual design of the main containment structures of DTT fusion reactor. The previous DTT baseline design is revised in terms of structural materials and overall reactor shape. The major change involves the vacuum vessel, which now foresees a welded double-wall stainless steel structure. The basic design includes eighteen sectors, with novel ports configuration for remote maintenance systems, diagnostics and heating equipment. New supports are designed for the first wall, which is conveniently segmented in view of assembly and remote replacement. The cryostat of the machine is conceived as a single-wall cylindrical vessel reinforced by ribs. The cryostat base is also in charge of supporting the vacuum vessel and the magnets system. A preliminary FEA analysis confirms that the main mechanical structure might withstand the design loads, in particular the ones resulting from possible plasma disruptions.

Keywords: CAD , DTT , EU-DEMO , FEM , Fusion reactor , Structural analysis

The water-cooled lithium-lead breeding blanket is in the pre-conceptual design phase. It is a candidate option for European DEMO nuclear fusion reactor. This breeding blanket concept relies on the liquid lithium-lead as breeder-multiplier, pressurized water as coolant and EUROFER as structural material. Current design is based on DEMO 2017 specifications. Two separate water systems are in charge of cooling the first wall and the breeding zone: thermo-dynamic cycle is 295–328 °C at 15.5 MPa. The breeder enters and exits from the breeding zone at 330 °C. Cornerstones of the design are the single module segment approach and the water manifold between the breeding blanket box and the back supporting structure. This plate with a thickness of 100 mm supports the breeding blanket and is attached to the vacuum vessel. It is in charge to withstand the loads due to normal operation and selected postulated initiating events. Rationale and progresses of the design are presented and substantiated by engineering evaluations and analyses. Water and lithium lead manifolds are designed and integrated with the two consistent primary heat transport systems, based on a reliable pressurized water reactor operating experience, and six lithium lead systems. Open issues, areas of research and development needs are finally pointed out.

Keywords: Breeding blanket , DEMO , EUROfusion , WCLL

This paper presents the recent progress in the pre-conceptual design activities for the EU-DEMO divertor Cassette Body, performed in the framework of the work package “Divertor” of the EUROfusion Power Plant Physics & Technology (PPPT) program. According to Systems Engineering Principles, the divertor CAD model is reviewed, considering the updates in the DEMO configuration model presented by the Programme Management Unit (PMU) in 2017. The design parameters affected by these changes and their impact on the divertor design and on the interfaced systems are analysed. Then, the paper focuses on the integration on the new cassette geometry of the divertor sub-systems. This includes the design of a “shielding liner” for cassette body and Vacuum Vessel protection, as well as the development of the cassette body-to-Vacuum Vessel fixation system. The design activities related to these main sub-systems are discussed in detail, in terms of CAD model and thermo-mechanical calculations.

Keywords: 3D CAD modelling , Divertor , Divertor fixation system , EU-DEMO , Shielding liner

Introduction and Objectives Fabrication processes for spinal orthoses require accurate three-dimensional (3D) models of the patients' trunk. Current methods for 3D reconstruction used in this field mainly include laser or structured light scanning; these methods are time expensive and invasive, especially for patients with partial disabilities. Therefore, a theoretically instant system for data acquisition of anatomical structure is highly desirable. The objective of this work is to show the feasibility of using digital photogrammetry for human body digitization to generate accurate 3D models of the patients' trunk for spinal orthoses fabrication. Materials and Methods Multiple synchronized two-dimensional images of the human torso are captured from different points of view using a photogrammetric scanner. A 3D model is generated using the state-of-the-art algorithms for point cloud and surface reconstruction. The digitized model is then used as input for the standard computer-aided design (CAD)/computer-aided manufacturing (CAM) process of fabrication. R4D from Rodin4D is used as prosthetics and orthotics CAD software. A robotic cell constituted by a six-axis KUKA KR 30-3 is used for milling a polyurethane foam. Vacuum forming is then adopted to generate the orthosis. Two spinal orthoses are fabricated using this approach and a classical one; then, they are evaluated using quantitative and qualitative metrics. Results The data acquisition using this approach lasts 50 milliseconds. The 3D reconstruction accuracy averages 0.21 ± 1.27 mm, which suits for the considered health care scenario. Results of the initial fitting of the orthoses fabricated with the presented method show better performances in terms of time (44%), product quality (35%), and patient experience (30%). Conclusions Digital photogrammetry can be used to enhance the data acquisition and data processing of anatomical surfaces for the CAD/CAM process of spinal orthoses. The data acquisition time, almost instant, allows an easy compliance of many patients. The data processing allows generating accurate models of the patient's body. The overall process generates orthoses with a better quality with respect to those manufactured using conventional procedures. ©

Keywords: CAD/CAM , fabrication techniques , photogrammetry , prosthetics and orthotics , spinal orthoses , three-dimensional reconstruction

Kinematic modeling of continuum robots is challenging due to the large deflections that these systems usually undergone. In this paper, we derive the kinematics of a continuum robot from the evolution of a three-dimensional curve in space. We obtain the spatial configuration of a continuum robot in terms of exponential coordinates based on Lie group theory. This kinematic framework turns out to handle robotic helical shapes, i.e. spatial configurations with constant curvature and torsion of the arm.

Keywords: Continuum robotics , Differential geometry , Kinematics