Abstract
Recently, there are growing needs for fast and accurate needle insertion simulations with realistic sensations. However, it takes large computation time to realize such simulations. Our goal is to construct a needle insertion training system for trainee doctors to practice the needle insertion operations. In this paper, we propose a multi-rate online remesh method to achieve a real time and accurate needle insertion simulation. In this approach, tetrahedral volume mesh that located near the needle is rapidly subdivided by binary bisection algorithm. And then, accurate friction force of the needle is calculated from relative velocities between the needle and nodes of subdivided small tetrahedra.
