Domain Decomposition for real time Simulation of needle insertion
Résumé
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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Poster.pdf (387.44 Ko)
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Origine | Fichiers produits par l'(les) auteur(s) |
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