Real-Time Topology Modification for Finite Element Models with Haptic Feedback

  • Dan C. Popescu
  • Bhautik Joshi
  • Sébastien Ourselin
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3691)


We propose a real-time procedure for performing topology modifications on finite element models of objects with linear elastic behaviour. For a 3D tetrahedral model, it requires the inversion of a 6 × 6 matrix and the weighted multiplication of a thin matrix with its transpose. We exemplify with an implementation in our surgical simulator, where we impose the tight computational constraints of haptic feedback. Our experimental results show that we can obtain response times of under one second for objects represented by tetrahedral meshes with more than 2000 nodes.


Haptic Feedback Haptic Device Mesh Node Tetrahedral Mesh Mesh Data 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Dan C. Popescu
    • 1
  • Bhautik Joshi
    • 1
  • Sébastien Ourselin
    • 1
  1. 1.BioMedIA Lab, Autonomous System LaboratoryCSIRO ICT CentreMarsfieldAustralia

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