Torsion of 3D Point Cloud

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Hi may be my question is not asked at the right forum, So I'm very sorry. I'm trying to characterize deformations of the Bladder (described by a set of Point clouds), so I'm searching a formula or something to describe torsions (or twists) at each vertex of the point Cloud along all the deformed sequences of the Bladder. I know how to do it in 2D, but in 3D case I have no idea.

Thanks in advance