Previous Work General one-dimensional models General one-dimensional models Dynamic spline [Lenoir et al 02, Nocent & Remion 01] Dynamic spline [Lenoir et al 02, Nocent & Remion 01] Static Cosserat model [Pai 02] Static Cosserat model [Pai 02] Specific catheter simulation Specific catheter simulation Rigid bodies and joints (multi-body dynamics) [Dawson et al 00] Rigid bodies and joints (multi-body dynamics) [Dawson et al 00] Linear elastic FEM [Nowinski 01] Linear elastic FEM [Nowinski 01] Incremental FEM model [Cotin et al 05] Incremental FEM model [Cotin et al 05]