Domain Decomposition for real time Simulation of needle insertion

Abstract : Our goal is to develop robotized needle insertion for drug delivery in small animals. We control the robot with a real-time Finite Element simulation that provides accurate models of the deformable environment. To predict the deformations we need to solve a contact problem which is known to be time consuming. To reduce the computational time we use the domain decomposition method: the FE mesh is split in several domains in order to extract paral-lelism for GPU computing and to concentrate the computation time around the needle.
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https://hal.inria.fr/hal-01229514
Contributor : Yinoussa Adagolodjo <>
Submitted on : Tuesday, August 30, 2016 - 4:28:33 PM
Last modification on : Saturday, October 27, 2018 - 1:27:25 AM

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  • HAL Id : hal-01229514, version 1

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Yinoussa Adagolodjo, Hadrien Courtecuisse, Raffaella Trivisonne, Laurent Goffin, Stephane Pierre-Alain Bordas, et al.. Domain Decomposition for real time Simulation of needle insertion. DD23, Jul 2015, Jeju, South Korea. ⟨hal-01229514⟩

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