Research Article
A Novel FEM-Based Numerical Solver for Interactive Catheter Simulation in Virtual Catheterization
Algorithm 1
The overall algorithm of the proposed numerical solver.
(1) Initialize the positions of the catheter in an equilibrium state. | (2) Translate each node of the virtual catheter a displacement by the operation from | the motion sensor of our simulator . | (3) Detect the collisions to create the set of colliding nodes and triangular meshes. | (4) Build or update the matrix , the matrix and the vector . | (5) Solve the linear system . | (6) Update the positions of the virtual catheter to the new equilibrium state. |
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