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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Contributeur : Yinoussa Adagolodjo <>
Soumis le : mardi 30 août 2016 - 16:28:33
Dernière modification le : samedi 27 octobre 2018 - 01:27:25


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  • HAL Id : hal-01229514, version 1


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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