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This paper describes the use of the corotational cut Finite Element Method(FEM) for real-time surgical simulation. Users only need to provide abackground mesh which is not necessarily conforming to theboundaries/interfaces of the simulated object. The details of the surface,which can be directly obtained from binary images, are taken into account by amultilevel embedding algorithm applied to elements of the background mesh thatcut by the surface. Boundary conditions can be implicitly imposed on thesurface using Lagrange multipliers. The implementation is verified byconvergence studies with optimal rates. The algorithm is applied to variousneedle insertion simulations (e.g. for biopsy or brachytherapy) into brain andliver to verify the reliability of method, and numerical results show that thepresent method can make the discretisation independent from geometricdescription, and can avoid the complexity of mesh generation of complexgeometries while retaining the accuracy of the standard FEM. Using the proposedapproach is very suitable for real-time and patient specific simulations as itimproves the simulation accuracy by taking into account automatically andproperly the simulated geometry.

Corotational Cut Finite Element Method for real-time surgical simulation: application to needle insertion simulation