发表机构
The University of Tokyo（东京大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对软组织切割中变形与失效耦合问题，提出STC-MPM框架，耦合有限应变损伤与失效后处理，无需预设切口界面，实现切口形成与组织响应的联合分析。
AI 中文摘要
切割是机器人自动化中的常见操作，从食品制备到手术组织切除均有所涉及。对于高度柔顺的目标，刀片运动可能使材料变形或移位，而非推进预期的切口，同时渐进失效会改变载荷传递及后续的刀具-组织相互作用。因此，计算描述必须将切口形成与不断演变的力学响应联系起来，而非独立于材料失效来指定切口。我们提出了STC-MPM（基于物质点法的软组织切割框架），该框架耦合了有限应变变形、历史驱动的连续损伤以及可配置的失效后处理。损伤仅在刀片作用区内拉伸应变历史超过材料阈值时启动。渐进退化在失效后策略应用之前改变应力传递，而剩余组织继续变形、移动并与刀具相互作用。使用延迟粒子停用的数值手术刀研究跟踪了插入和拔出过程中的这一响应。在相同的刀片运动下，降低损伤速率极限会使首次记录的损伤时间保持不变，但会延迟并增加峰值反作用力，延迟粒子停用，并在最大插入深度处增加固定队列位移统计量。匹配比较说明了失效后演化如何改变后续刀具载荷及记录的材料运动。因此，STC-MPM支持对切口形成及伴随组织响应的联合分析，而无需预先插入的切割界面。
英文摘要
Cutting is a recurring operation in robotic au tomation, from food preparation to surgical tissue resection. For highly compliant targets, blade motion may deform or displace the material rather than advance the intended cut, while progressive failure changes load transfer and subsequent tool tissue interaction. A computational description must therefore connect cut formation to the evolving mechanical response, rather than specifying the incision independently of material failure. We present STC-MPM (Soft Tissue Cutting with the Material Point Method), a framework that couples finite-strain deformation, history-driven continuum damage, and configurable post-failure treatment. Damage initiates only when a tensile strain history exceeds a material threshold within the blade process zone. Progressive degradation changes stress transmission before the post-failure policy is applied, while the remaining tissue continues to deform, move, and interact with the tool. Numerical scalpel studies using delayed particle deactivation follow this response through insertion and withdrawal. Under identical blade motion, reducing the damage-rate limit leaves the first recorded damage time unchanged but delays and increases peak reaction force, delays particle deactivation, and increases the fixed-cohort displacement statistic at maximum insertion. The matched comparison illustrates how post-initiation failure evolution alters subsequent tool loading and recorded material motion. STC-MPM thus supports joint analysis of cut formation and accompanying tissue response without a pre-inserted cutting interface.
