Martin, ClaireZeng, ZiqiuCourtecuisse, HadrienBabaei, VahidSkouras, Melina2023-05-032023-05-032023978-3-03868-209-71017-4656https://doi.org/10.2312/egs.20231003https://diglib.eg.org:443/handle/10.2312/egs20231003This 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.Attribution 4.0 International LicenseCCS Concepts: Computing methodologies → Physical Simulation; Real-Time SimulationComputing methodologies → Physical SimulationRealTime Simulation10.2312/egs.2023100313-164 pages