Isometric and affine copies of a set in volumetric Helly results

We show that for any compact convex set $K$ in $mathbb{R}^d$ and any finite family $mathcal{F}$ of convex sets in $mathbb{R}^d$, if the intersection of every sufficiently small subfamily of $mathcal{F}$ contains an isometric copy of $K$ of volume $1$, then the intersection of the whole family contains an isometric copy of $K$ scaled by a factor of $(1-varepsilon)$, where $varepsilon$ is positive and fixed in advance. Unless $K$ is very similar to a disk, the shrinking factor is unavoidable. We prove similar results for affine copies of $K$. We show how our results imply the existence of randomized algorithms that approximate the largest copy of $K$ that fits inside a given polytope $P$ whose expected runtime is linear on the number of facets of $P$.