Section: Scientific Foundations
Interaction between models
We have been working on mechanical models, but also on the more global question to know how to mix together algorithmically sophisticated mechanical system: although this question is, to our knowledge, barely studied by other research groups (we can note some early attempts though by Baraff, also SIAMES project), we consider this to be a key point for being able to provide complex surgical protocols in the near future. This aspect, among other, has allowed us to initiate, along with the CIMIT simulation group, the SOFA project, that now turns into international level.
This work includes dealing with contact and friction between deformable bodies  that have a big impact on mechanical behavior of models. Contact models are often solved with simplified method with real-time constraint. However these simplified method could lead to false behaviors. This is not acceptable in the medical simulation context  where we try to use interactive simulation for planning. Thus, we propose an active research on models for contact and friction between deformable objects and on efficient solvers.