Browsing by Author "Courtecuisse, Hadrien"

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    Efficient Needle Insertion Simulation using Hybrid Constraint Solver and Isolated DOFs
    (The Eurographics Association, 2023) Martin, Claire; Zeng, Ziqiu; Courtecuisse, Hadrien; Babaei, Vahid; Skouras, Melina
    This paper introduces a real-time compatible method to improve the location of constraints between a needle and tissues in the context of needle insertion simulation. This method is based on intersections between the Finite Element (FE) meshes of the needle and the tissues. It is coupled with the method of isolating mechanical DOFs and a hybrid solver (implying both direct and iterative resolutions) to respectively generate and solve the constraint problem while reducing the computation time.
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    Interactive Finite Element Model of Needle Insertion and Laceration
    (The Eurographics Association, 2021) Perrusi, Pedro Henrique Suruagy; Baksic, Paul; Courtecuisse, Hadrien; Theisel, Holger and Wimmer, Michael
    This paper introduces an interactive model of needle insertion, including the possibility to simulate lacerations of tissue around the needle. The method relies on complementary constraints to couple the Finite Element models of the needle and tissue. The cutting path is generated from mechanical criteria (i.e. cutting force) at arbitrary resolution, avoiding expensive remeshing of Finite Element meshes. Complex behavior can be simulated in real time such as friction along the shaft of the needle, puncture and cutting force resulting from interactions of the needle with the tissue. The method is illustrated both in an interactive simulation of a needle insertion/cutting and in a robotic needle insertion in liver tissue during the breathing motion.