Surgical robots have been widely adopted with over 4000 robots being used in practice
daily. However, these are telerobots that are fully controlled by skilled human surgeons …

Purpose Although ultrasound (US) images represent the most popular modality for guiding
breast biopsy, malignant regions are often missed by sonography, thus preventing accurate …

This paper proposes a deformable tissue model that introduces octree lattice vertex layout
and cubic constraints to the orthodox PBD (Position Based Dynamics) method. Surgical …

Intraoperative ultrasound is an imaging modality frequently used to provide delineation of
tissue boundaries. This paper proposes a simulation platform that enables rehearsal of …

Abstract An Autonomous Robotic Surgical System (ARSS) has to interact with the complex
anatomical environment, which is deforming and whose properties are often uncertain …

Mechanical systems simulation for video games and other interactive applications impose
important restrictions as stability, flexibility in the scenes and computational complexity. In …

La troisième partie de ce mémoire synthétise mes projets de recherche centrés sur la
modélisation déformable et personnalisée du corps humain. Les aspects expérimentaux et …