[algorithm] Define the state & features of the needle insertion algorithm

[th-skam]

Description

This issue defines the desirable core functionalities that the needle insertion algorithm should have. The goal is to establish the baseline state of the algorithm before moving toward scenario-specific optimizations.

Main points

• Collision detection for needle tip and needle body
• Puncture of the surface under contact when a force threshold is passed
• Constraint of lateral movements of the needle when inside an object

Behavioural additions

• Removal of points from the insertion path when the needle retreats
• Support for cycles of insertion and retreat
• Detection of whether the needle tip is inside or outside an object
• Ability to cross multiple boundaries or layers. Or collide with impenetrable ones.
• Enable tracking of the insertion stage (puncture, insertion, exiting) and allow communication with Unity.

Haptic Feedback

• Resistance before puncture and relief after puncture
• Resistance against lateral movements when inside a volume
• Friction feedback when moving inside a volume
• Find a way to track the force feedback and enable the possibility of deactivating collision if it exceeds threshold.

Documentation

• Algorithm description (flow chart maybe)
• Class relations
• Needle model description
• Comment algorithm code

Benchmark Scenarios

• Basic mesh — simplest case with a needle and a box (regular mesh)
• Insertion cycles — scenario demonstrating repeated insertion–retreat cycles
• Haptic interaction — benchmark to test haptic force feedback
• Non-regular mesh — mesh comprising tetrahedra of various sizes (a .msh file) that is closer to liver insertion
• Multi-layered insertion — scenario with multiple objects (layers) and non-penetrable surfaces