Eurographics 2021

Title of the article: Interactive Finite Element model of needle insertion and laceration

Authors: Pedro Henrique Suruagy Perrusi, Paul Baksic, Hadrien Courtecuisse

Abstract: 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.

Submitted to Eurographics 2021 – Short Papers

Open access to authors’ version: https://hal.inria.fr/hal-03187709/ ICube AVR Laboratory webpage: https://avr.icube.unistra.fr/index.php/Accueil MIMESIS Research team webpage: https://mimesis.inria.fr/ Project webpage: https://hadrien.courtecuisse.cnrs.fr/

Acknowledgement: This work was supported by French National Research Agency (ANR) within the project SPERRY ANR-18-CE33-0007 and the Investissements d’Avenir program (ANR-11-LABX-0004, Labex CAMI).