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Computer-aided surgical simulation is a topic of increasingly extensive research. Computer graphics, geometric modeling and finite-element analysis all play major roles in these simulations. Furthermore, real-time response, interactivity and accuracy are crucial components in any such simulation system. A major effort has been invested in recent years to(More)
General haptic interaction with solid models requires an underlying physically-based model that can generate, in real-time, the forces and deformations to be rendered as a result of user interaction. In order to allow for a rich set of interactions, the physical model must support real-time topological modifications including the embedding of new elements(More)
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