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This paper proposes a hybrid contact model, which enables an efficient simulation of cannulation procedure of ERCP. Meshless model and mass-spring model are employed together to construct the major papilla model. This method divides contact cases into visible and invisible contacts. We employ Signorini's contact model for visible contacts and develop the centerline-based contact model for invisible contacts. The comparison in computation time verifies that our proposed model reduces computation time up to eighty percent.

A Hybrid Contact Model for Cannulation Simulation of ERCP