This is a SOFA plugin (https://github.com/sofa-framework/sofa) that provides tools for constraint resolution to simulate tissue puncture and needle insertion. Works in conjunction with https://github.com/InfinyTech3D/CollisionAlgorithm.
This project builds upon the original repository from ICube Laboratory, University of Strasbourg and extends it with custom constraints specifically designed for needle insertion simulations.