A Novel FEM-Based Numerical Solver for Interactive Catheter Simulation in Virtual Catheterization

Table 2

The comparison of the deformation between the simulated catheter and the real one: for different combinations of segment length 𝑙 and stepsize of each input (pulling or pushing) ℎ, the RMS error (mm) (left value), the maximum displacement error (mm) (middle value), and the total runtime of the whole procedure of the experiments in seconds (right value) are listed.

ℎ/𝑙	𝑙
	1 mm			2 mm			3 mm
1/40	1.38	2.32	180.7	1.54	2.42	49.7	1.76	2.74	29.5
1/20	1.16	2.12	84.5	1.47	2.24	23.2	1.66	2.38	15.4
1/10	1.12	2.16	41.4	1.35	2.36	11.5	1.86	2.45	6.9
1/5	0.96	1.52	20.5	1.26	1.88	5.9	1.44	2.56	3.9
1/3	1.05	1.76	11.6	1.24	2.13	3.5	1.62	2.22	2.1