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    Categories and Subject Descriptors (according to ACM CCS): I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling-Physically based modeling I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism-Virtual reality I.3.1 [Computer Graphics]: Hardware Architecture-Graphics processors; Keywords: Needle Insertion Simulation, Deformable Object Modeling, CUDA, GPGPU (1)