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Domain Decomposition for real time Simulation of needle insertion

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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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Dates and versions

hal-01229514 , version 1 (30-08-2016)

Identifiers

  • HAL Id : hal-01229514 , version 1

Cite

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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