Tetrahedral mesh for needle insertion

Abstract

This is a Master’s thesis in how to make a tetrahedral mesh for use in a needle insertion simulator. It also describes how it is possible to make the simulator, and how to improve it to make it as realistic as possible. The medical simulator uses a haptic device, a haptic scene graph and a FEM for realistic soft tissue deformation and interaction. In this project a tetrahedral mesh is created from a polygon model, and then the mesh has been loaded into the HaptX haptic scene graph. The objects in the mesh have been made as different haptic objects, and then they have got a simple haptic surface to make it possible to touch them. There has not been implemented any code for the Hybrid Condensed FEM that has been described.