Publications of Igor Peterlik

Publications HAL de peterlik de la structure shacra;mimesis

2017

Conference papers

titre
Image-driven Stochastic Identification of Boundary Conditions for Predictive Simulation
auteur
Igor Peterlik, Nazim Haouchine, Lukáš Ručka, Stéphane Cotin
article
20th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2017, Québec, Canada. 2017
resume
In computer-aided interventions, biomechanical models reconstructed from the pre-operative data are used via augmented reality to facilitate the intra-operative navigation. The predictive power of such models highly depends on the knowledge of boundary conditions. However , in the context of patient-specific modeling, neither the pre-operative nor the intra-operative modalities provide a reliable information about the location and mechanical properties of the organ attachments. We present a novel image-driven method for fast identification of boundary conditions which are modelled as stochastic parameters. The method employs the reduced-order unscented Kalman filter to transform in real-time the probability distributions of the parameters, given observations extracted from intra-operative images. The method is evaluated using synthetic, phantom and real data acquired in vivo on a porcine liver. A quantitative assessment is presented and it is shown that the method significantly increases the predictive power of the biomechanical model.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01570811/file/miccai2017BCDA.pdf BibTex
titre
Model-Based Generation of Synthetic 3D Time-Lapse Sequences of Motile Cells with Growing Filopodia
auteur
Dmitry Sorokin, Igor Peterlik, Vladimír Ulman, David Svoboda, Martin Maška
article
International Symposium on Biomedical Imaging, Apr 2017, Melbourne, Australia
resume
The existence of benchmark datasets is essential to objectively evaluate various image analysis methods. Nevertheless, manual annotations of fluorescence microscopy image data are very laborious and not often practicable, especially in the case of 3D+t experiments. In this work, we propose a simulation system capable of generating 3D time-lapse sequences of single motile cells with filopodial protrusions, accompanied by inherently generated ground truth. The system consists of three globally synchronized modules, each responsible for a separate task: the evolution of filopodia on a molecular level, linear elastic deformation of the entire cell with filopodia, and generation of realistic, time-coherent cell texture. The capability of our system is demonstrated by generating a synthetic 3D time-lapse sequence of a single lung cancer cell with two growing filopodia, visually resembling its real counterpart acquired using a confocal fluorescence microscope.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01445488/file/2017.ISBI.filapodiaSimu.pdf BibTex
titre
Fast reconstruction of image deformation field using radial basis function
auteur
Lukáš Ručka, Igor Peterlík
article
ISBI2017 – International Symposium on Biomedical Imaging, Apr 2017, Melbourne, Australia. Proceedings of International Symposium on Biomedical Imaging
resume
Fast and accurate registration of image data is a key component of computer-aided medical image analysis. Instead of performing the registration directly on the input images, many algorithms compute the transformation using a sparse representation extracted from the original data. However, in order to apply the resulting transformation onto the original images, a dense deformation field has to be reconstructed using a suitable inter-/extra-polation technique. In this paper, we employ the radial basis function (RBF) to reconstruct the dense deformation field from a sparse transformation computed by a model-based registration. Various kernels are tested using different scenario. The dense deformation field is used to warp the source image and compare it quantitatively to the target image using two different metrics. Moreover, the influence of the number and distribution of the control points required by the RBF is studied via two different scenarios. Beside the accuracy, the performance of the method accelerated using a GPU is reported.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01445483/file/isbi-rbf.pdf BibTex
titre
Face-based Smoothed Finite Element Method for Real-time Simulation of soft tissue
auteur
Andrea Mendizabal, Rémi Duparc, Huu Phuoc Bui, Christoph Paulus, Igor Peterlik, Stéphane Cotin
article
SPIE Medical Imaging, Feb 2017, Orlando, United States. SPIE Medical Imaging
resume
In soft tissue surgery, a tumor and other anatomical structures are usually located using the preoperative CT or MR images. However, due to the deformation of the concerned tissues, this information suffers from inaccuracy when employed directly during the surgery. In order to account for these deformations in the planning process, the use of a bio-mechanical model of the tissues is needed. Such models are often designed using the finite element method (FEM), which is, however, computationally expensive, in particular when a high accuracy of the simulation is required. In our work, we propose to use a smoothed finite element method (S-FEM) in the context of modeling of the soft tissue deformation. This numerical technique has been introduced recently to overcome the overly stiff behavior of the standard FEM and to improve the solution accuracy and the convergence rate in solid mechanics problems. In this paper, a face-based smoothed finite element method (FS-FEM) using 4-node tetrahedral elements is presented. We show that in some cases, the method allows for reducing the number of degrees of freedom, while preserving the accuracy of the discretization. The method is evaluated on a simulation of a cantilever beam loaded at the free end and on a simulation of a 3D cube under traction and compression forces. Further, it is applied to the simulation of the brain shift and of the kidney’s deformation. The results demonstrate that the method outperforms the standard FEM in a bending scenario and that has similar accuracy as the standard FEM in the simulations of brain shift and kidney deformation.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01444595/file/SPIE2017.pdf BibTex

2016

Conference papers

ImagePigletMMVR1.png
titre
3D Physics-Based Registration of 2D Dynamic MRI Data
auteur
Raffaella Trivisonne, Igor Peterlik, Stéphane Cotin, Hadrien Courtecuisse
article
MMVR – Medicine Meets Virtual Reality, Apr 2016, Los Angeles, United States. 2016
resume
We present a method allowing for intra-operative targeting of a specific anatomical feature. The method is based on a registration of 3D pre-operative data to 2D intra-operative images. Such registration is performed using an elastic model reconstructed from the 3D images, in combination with sliding constraints imposed via Lagrange multipliers. We register the pre-operative data, where the feature is clearly detectable, to intra-operative dynamic images where such feature is no more visible. Despite the lack of visibility on the 2D MRI images, we are able both to determine the location of the target as well as follow its displacement due to respiratory motion.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01254388/file/Trivisonne_R.pdf BibTex

2015

Journal articles

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titre
Patient-specific Biomechanical Modeling for Guidance during Minimally-invasive Hepatic Surgery
auteur
Rosalie Plantefève, Igor Peterlik, Nazim Haouchine, Stéphane Cotin
article
Annals of Biomedical Engineering, Springer Verlag, 2015
resume
During the minimally-invasive liver surgery, only the partial surface view of the liver is usually provided to the surgeon via the laparoscopic camera. Therefore, it is necessary to estimate the actual position of the internal structures such as tumors and vessels from the pre-operative images. Nevertheless, such task can be highly challenging since during the intervention, the abdominal organs undergo important deformations due to the pneumoperitoneum, respiratory and cardiac motion and the interaction with the surgical tools. Therefore, a reliable automatic system for intra-operative guidance requires fast and reliable registration of the pre- and intra-operative data. In this paper we present a complete pipeline for the registration of pre-operative patient-specific image data to the sparse and incomplete intra-operative data. While the intra-operative data is represented by a point cloud extracted from the stereo-endoscopic images, the pre-operative data is used to reconstruct a biomechanical model which is necessary for accurate estimation of the position of the internal structures, considering the actual deformations. This model takes into account the patient-specific liver anatomy composed of parenchyma, vascularization and capsule, and is enriched with anatomical boundary conditions transferred from an atlas. The registration process employs the iterative closest point technique together with a penalty-based method. We perform a quantitative assessment based on the evaluation of the target registration error on synthetic data as well as a qualitative assessment on real patient data. We demonstrate that the proposed registration method provides good results in terms of both accuracy and robustness w. r. t. the quality of the intra-operative data.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01205194/file/ABME.pdf BibTex
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titre
Preoperative trajectory planning for percutaneous procedures in deformable environments
auteur
Noura Hamzé, Igor Peterlík, Stéphane Cotin, Caroline Essert
article
Computerized Medical Imaging and Graphics, Elsevier, 2015, 47, <10.1016/j.compmedimag.2015.10.002>
resume
In image-guided percutaneous interventions, a precise planning of the needle path is a key factor to a successful intervention. In this paper we propose a novel method for computing a patient-specific optimal path for such interventions, accounting for both the deformation of the needle and soft tissues due to the insertion of the needle in the body. To achieve this objective, we propose an optimization method for estimating preoperatively a curved trajectory allowing to reach a target even in the case of tissue motion and needle bending. Needle insertions are simulated and regarded as evaluations of the objective function by the iterative planning process. In order to test the planning algorithm, it is coupled with a fast needle insertion simulation involving a flexible needle model and soft tissue finite element modeling, and experimented on the use-case of thermal ablation of liver tumors. Our algorithm has been successfully tested on twelve datasets of patient-specific geometries. Fast convergence to the actual optimal solution has been shown. This method is designed to be adapted to a wide range of percutaneous interventions.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01242842/file/prop_hamze.pdf BibTex
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titre
Impact of Soft Tissue Heterogeneity on Augmented Reality for Liver Surgery
auteur
Nazim Haouchine, Stephane Cotin, Igor Peterlik, Jeremie Dequidt, Mario Sanz-Lopez, Erwan Kerrien, Marie-Odile Berger
article
IEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2015, 21 (5), pp.584 – 597. <10.1109/TVCG.2014.2377772>
resume
This paper presents a method for real-time augmented reality of internal liver structures during minimally invasive hepatic surgery. Vessels and tumors computed from pre-operative CT scans can be overlaid onto the laparoscopic view for surgery guidance. Compared to current methods, our method is able to locate the in-depth positions of the tumors based on partial three-dimensional liver tissue motion using a real-time biomechanical model. This model permits to properly handle the motion of internal structures even in the case of anisotropic or heterogeneous tissues, as it is the case for the liver and many anatomical structures. Experimentations conducted on phantom liver permits to measure the accuracy of the augmentation while real-time augmentation on in vivo human liver during real surgery shows the benefits of such an approach for minimally invasive surgery.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01136728/file/haouchineTVCG2014-low.pdf BibTex

Conference papers

titre
Framework for augmented reality in Minimally Invasive laparoscopic surgery
auteur
Bruno Marques, Rosalie Plantefeve, Frédérick Roy, Nazim Haouchine, Emmanuel Jeanvoine, Igor Peterlik, Stéphane Cotin
article
HealthCom 2015, Oct 2015, Boston, United States. 2015 17th International Conference on E-health Networking, Application & Services (HealthCom) 2015, <10.1109/HealthCom.2015.7454467>
resume
This article presents a framework for fusing pre-operative data and intra-operative data for surgery guidance. This framework is employed in the context of Minimally Invasive Surgery (MIS) of the liver. From stereoscopic images a three dimensional point cloud is reconstructed in real-time. This point cloud is then used to register a patient-specific biomechanical model derived from Computed Tomography images onto the laparoscopic view. In this way internal structures such as vessels and tumors can be visualized to help the surgeon during the procedure. This is particularly relevant since abdominal organs undergo large deformations in the course of the surgery, making it difficult for surgeons to correlate the laparoscopic view with the pre-operative images. Our method has the potential to reduce the duration of the operation as the biomechanical model makes it possible to estimate the in-depth position of tumors and vessels at any time of the surgery, which is essential to the surgical decision process. Results show that our method can be successfully applied during laparoscopic procedure without interfering with the surgical work flow.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01315574/file/article.pdf BibTex
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titre
Surgery Training, Planning and Guidance Using the SOFA Framework
auteur
Hugo Talbot, Nazim Haouchine, Igor Peterlik, Jeremie Dequidt, Christian Duriez, Hervé Delingette, Stephane Cotin
article
Eurographics, May 2015, Zurich, Switzerland
resume
In recent years, an active development of novel technologies dealing with medical training, planning and guidance has become an increasingly important area of interest in both research and health-care manufacturing. A combination of advanced physical models, realistic human-computer interaction and growing computational power is bringing new solutions in order to help both medical students and experts to achieve a higher degree of accuracy and reliability in surgical interventions. In this paper, we present three different examples of medical physically-based simulations implemented in a common software platform called SOFA. Each example represents a different application: training for cardiac electrophysiology, pre-operative planning of cryosurgery and per-operative guidance for laparoscopy. The goal of this presentation is to evaluate the realism, accuracy and efficiency of the simulations, as well as to demonstrate the potential and flexibility of the SOFA platform.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01160297/file/Sofa-EG2015.pdf BibTex

2014

Conference papers

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titre
The Role of Ligaments: Patient-Specific or Scenario-Specific ?
auteur
Julien Bosman, Nazim Haouchine, Jérémie Dequidt, Igor Peterlik, Stéphane Cotin, Christian Duriez
article
International Symposium on Biomedical Simulation ISBMS, Oct 2014, Strasbourg, France. 2014
resume
In this paper, we present a preliminary study dealing with the importance of correct modeling of connective tissues such as ligaments in laparoscopic liver surgery simulation. We show that the model of these tissues has a significant impact on the overall results of the simulation. This is demonstrated numerically using two different scenarios from the laparoscopic liver surgery, both resulting in important deformation of the liver: insufflation of the abdominal cavity with gas (pneumoperitoneum) and manipulation with the liver lobe using a surgical instrument (grasping pincers). For each scenario, a series of simulations is performed with or without modeling the deformation of the ligaments (fixed constraints or biomechanical model with the parameter of the literature). The numerical comparison shows that modeling the ligament deformations can be at least as important as the correct selection of the patient-specific parameters, nevertheless this observation depends on the simulated scenario.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01068077/file/main.pdf BibTex
comp_flank_supine_BC.png
titre
Atlas-based Transfer of Boundary Conditions for Biomechanical Simulation
auteur
Rosalie Plantefeve, Igor Peterlik, Hadrien Courtecuisse, Raffaella Trivisonne, Jean-Pierre Radoux, Stéphane Cotin
article
MICCAI – 17th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2014, Boston, United States. 2014
resume
An environment composed of different types of living tissues (such as the abdominal cavity) reveals a high complexity of boundary conditions, which are the attachments (e.g. connective tissues, ligaments) connecting different anatomical structures. Together with the material properties, the boundary conditions have a significant influence on the mechanical response of the organs, however corresponding correct me- chanical modeling remains a challenging task, as the connective struc- tures are difficult to identify in certain standard imaging modalities. In this paper, we present a method for automatic modeling of boundary con- ditions in deformable anatomical structures, which is an important step in patient-specific biomechanical simulations. The method is based on a statistical atlas which gathers data defining the connective structures at- tached to the organ of interest. In order to transfer the information stored in the atlas to a specific patient, the atlas is registered to the patient data using a physics-based technique and the resulting boundary conditions are defined according to the mean position and variance available in the atlas. The method is evaluated using abdominal scans of ten patients. The results show that the atlas provides a sufficient information about the boundary conditions which can be reliably transferred to a specific patient. The boundary conditions obtained by the atlas-based transfer show a good match both with actual segmented boundary conditions and in terms of mechanical response of deformable organs.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01070339/file/paper_1071.pdf BibTex
ipcai-peterlik.jpg
titre
Model-Based Identification of Anatomical Boundary Conditions in Living Tissues
auteur
Igor Peterlik, Hadrien Courtecuisse, Christian Duriez, Stéphane Cotin
article
Information Processing in Computer Assisted Interventions, Jun 2014, Fukuoka, Japan. 2014, <10.1007/978-3-319-07521-1_21>
resume
In this paper, we present a novel method dealing with the identification of boundary conditions of a deformable organ, a particularly important step for the creation of patient-specific biomechani-cal models of the anatomy. As an input, the method requires a set of scans acquired in different body positions. Using constraint-based finite element simulation, the method registers the two data sets by solving an optimization problem minimizing the energy of the deformable body while satisfying the constraints located on the surface of the registered organ. Once the equilibrium of the simulation is attained (i.e. the organ registration is computed), the surface forces needed to satisfy the constraints provide a reliable estimation of location, direction and magnitude of boundary conditions applied to the object in the deformed position. The method is evaluated on two abdominal CT scans of a pig acquired in flank and supine positions. We demonstrate that while computing a physically admissible registration of the liver, the resulting constraint forces applied to the surface of the liver strongly correlate with the location of the anatomical boundary conditions (such as contacts with bones and other organs) that are visually identified in the CT images.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01264434/file/Peterlik_PDFProof.pdf BibTex
titre
Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery
auteur
Nazim Haouchine, Jérémie Dequidt, Igor Peterlik, Erwan Kerrien, Marie-Odile Berger, Stéphane Cotin
article
International Conference on Robotics and Automation (ICRA), Jun 2014, Hong Kong, China. 2014
resume
This article introduces a method for tracking the internal structures of the liver during robot-assisted procedures. Vascular network, tumors and cut planes, computed from pre-operative data, can be overlaid onto the laparoscopic view for image-guidance, even in the case of large motion or deformation of the organ. Compared to current methods, our method is able to precisely propagate surface motion to the internal structures. This is made possible by relying on a fast yet accurate biomechanical model of the liver combined with a robust visual tracking approach designed to properly constrain the model. Augmentation results are demonstrated on in-vivo sequences of a human liver during robotic surgery, while quantitative validation is performed on an ex-vivo porcine liver experimentation. Validation results show that our approach gives an accurate surface registration with an error of less than 6mm on the position of the tumor.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01003262/file/output.pdf BibTex
titre
Constraint-Based Simulation for Non-Rigid Real-Time Registration
auteur
Hadrien Courtecuisse, Igor Peterlik, Raffaella Trivisonne, Christian Duriez, Stéphane Cotin
article
Medicine Meets Virtual Reality, Feb 2014, Manhattan Beach, California., United States. 2014
resume
In this paper we propose a method to address the problem of non-rigid registration in real-time. We use Lagrange multipliers and soft sliding constraints to combine data acquired from dynamic image sequence and a biomechanical model of the structure of interest. The biomechanical model plays a role of regulariza-tion to improve the robustness and the flexibility of the registration. We apply our method to a pre-operative 3D CT scan of a porcine liver that is registered to a sequence of 2D dynamic MRI slices during the respiratory motion. The finite element simulation provides a full 3D representation (including heterogeneities such as vessels, tumor,. . .) of the anatomical structure in real-time.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01160739/file/MMVR14.pdf BibTex

2013

Journal articles

titre
Modelling Prostate Deformation: SOFA versus Experiments
auteur
Pedro Moreira, Igor Peterlik, Herink Mark, Christian Duriez, Stéphane Cotin, Sarthak Misra
article
Mechanical Engineering Research, Canadian Center of Science and Education, 2013, 3 (2), p64. <10.5539/mer.v3n2p64>
resume
Needle insertion procedures are commonly used to treat and to diagnose prostate cancer. Surgical simulation systems can be used to estimate prostate deformation during pre- and intra-operative needle insertion planning. Such systems require a model that can accurately predict the prostate deformation in real time. In this study, we present a prostate model that incorporates the anatomy of the male pelvic region. The model is used to predict the prostate deformation during needle insertion and it is implemented in the Simulation Open Framework Architecture (SOFA). SOFA simulations are compared with experimental results for two scenarios: indentation and needle insertion. An experimental phantom is developed using anatomically accurate magnetic resonance images and populated with elasticity properties obtained from ultrasound-based Acoustic Radiation Force Impulse imaging technique. Markers are placed on the phantom surface to identify the deformation during indentation experiments. The root mean square error (RMSE) obtained in indentation experiments is 0.36 mm. During the needle insertion, the needle tip position is used to validate the model. The SOFA simulation resulted in a RMSE of 0.14 mm. The results of this study demonstrate that SOFA is a feasible option to be used in surgical simulations for pre-operative planning and training.
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BibTex

Conference papers

titre
Haptic Rendering of Interacting Dynamic Deformable Objects Simulated in Real-Time at Different Frequencies
auteur
François Dervaux, Igor Peterlik, Jérémie Dequidt, Stéphane Cotin, Christian Duriez
article
IROS – IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. IEEE, 2013
resume
The dynamic response of deformable bodies varies significantly in dependence on mechanical properties of the objects: while the dynamics of a stiff and light object (e. g. wire or needle) involves high-frequency phenomena such as vibrations, much lower frequencies are sufficient for capturing dynamic response of an object composed of a soft tissue. Yet, when simulating mechanical interactions between soft and stiff deformable models, a single time-step is usually employed to compute the time integration of dynamics of both objects. However, this can be a serious issue when haptic rendering of complex scenes composed of various bodies is considered. In this paper, we present a novel method allowing for dynamic simulation of a scene composed of colliding objects modelled at different frequencies: typically, the dynamics of soft objects are calculated at frequency about 50 Hz, while the dynamics of stiff object is modeled at 1 kHz, being directly connected to the computation of haptic force feedback. The collision response is performed at both low and high frequencies employing data structures which describe the actual constraints and are shared between the high and low frequency loops. During the simulation, the realistic behaviour of the objects according to the mechanical principles (such as non-interpenetration and action-reaction principle) is guaranteed. Examples showing the scenes involving different bodies in interaction are given, demonstrating the benefits of the proposed method.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-00842866/file/main.pdf BibTex
titre
Image-guided Simulation of Heterogeneous Tissue Deformation For Augmented Reality during Hepatic Surgery
auteur
Nazim Haouchine, Jérémie Dequidt, Igor Peterlik, Erwan Kerrien, Marie-Odile Berger, Stéphane Cotin
article
ISMAR – IEEE International Symposium on Mixed and Augmented Reality 2013, Oct 2013, Adelaide, Australia. 2013
resume
This paper presents a method for real-time augmentation of vas- cular network and tumors during minimally invasive liver surgery. Internal structures computed from pre-operative CT scans can be overlaid onto the laparoscopic view for surgery guidance. Com- pared to state-of-the-art methods, our method uses a real-time biomechanical model to compute a volumetric displacement field from partial three-dimensional liver surface motion. This permits to properly handle the motion of internal structures even in the case of anisotropic or heterogeneous tissues, as it is the case for the liver and many anatomical structures. Real-time augmentation results are presented on in vivo and ex vivo data and illustrate the benefits of such an approach for minimally invasive surgery.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-00842855/file/ISMAR13-Haouchine.pdf BibTex

2012

Journal articles

liver1.png
titre
Modeling and Real-Time Simulation of a Vascularized Liver Tissue
auteur
Igor Peterlík, Christian Duriez, Stéphane Cotin
article
Medical Image Computing and Computer-Assisted Intervention–MICCAI 2012, 2012, pp.50–57
resume
In Europe only, about 100,000 deaths per year are related to cirrhosis or liver cancer. While surgery remains the option that offers the foremost success rate against such pathologies, several limitations still hinder its widespread development. Among the limiting factors is the lack of accurate planning systems, which has been a motivation for several recent works, aiming at better resection planning and training systems, relying on pre-operative imaging, anatomical and biomechanical modelling. While the vascular network in the liver plays a key role in defining the operative strategy, its influence at a biomechanical level has not been taken into account. In the paper we propose a real-time model of vascularized organs such as the liver. The model takes into account separate constitutive laws for the parenchyma and vessels, and defines a coupling mechanism between these two entities. In the evaluation section, we present results of in vitro porcine liver experiments that indicate a significant influence of vascular structures on the mechanical behaviour of tissue. We confirm the val- ues obtained in the experiments by computer simulation using standard FEM. Finally, we show that the conventional modelling approach can be efficiently approximated with the proposed composite model capable of real-time calculations.
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-00800546/file/vascularizedModel.pdf BibTex

Book sections

NewLiverMap.png
titre
SOFA: A Multi-Model Framework for Interactive Physical Simulation
auteur
François Faure, Christian Duriez, Hervé Delingette, Jérémie Allard, Benjamin Gilles, Stéphanie Marchesseau, Hugo Talbot, Hadrien Courtecuisse, Guillaume Bousquet, Igor Peterlik, Stéphane Cotin
article
Yohan Payan. Soft Tissue Biomechanical Modeling for Computer Assisted Surgery, 11, Springer, pp.283-321, 2012, Studies in Mechanobiology, Tissue Engineering and Biomaterials, 978-3-642-29013-8. <10.1007/8415_2012_125>
resume
SOFA (Simulation Open Framework Architecture) is an open-source C++ library primarily targeted at interactive computational medical simulation. SOFA facilitates collaborations between specialists from various domains, by decomposing complex simulators into components designed independently and organized in a scenegraph data structure. Each component encapsulates one of the aspects of a simulation, such as the degrees of freedom, the forces and constraints, the differential equations, the main loop algorithms, the linear solvers, the collision detection algorithms or the interaction devices. The simulated objects can be represented using several models, each of them optimized for a different task such as the computation of internal forces, collision detection, haptics or visual display. These models are synchronized during the simulation using a mapping mechanism. CPU and GPU implementations can be transparently combined to exploit the computational power of modern hardware architectures. Thanks to this flexible yet efficient architecture, \sofa{} can be used as a test-bed to compare models and algorithms, or as a basis for the development of complex, high-performance simulators.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-00681539/file/main.pdf BibTex

2011

Journal articles

titre
Constraint-based haptic rendering of multirate compliant mechanisms
auteur
Igor Peterlik, Mourad Nouicer, Christian Duriez, Stéphane Cotin, Abderrahmane Kheddar
article
IEEE Transactions on Haptics (ToH), IEEE, 2011, 4 (3), pp.175-187. <10.1109/TOH.2011.41>
resume
The paper is dedicated to haptic rendering of complex physics-based environment in the context of surgical simulation. A new unified formalism for modeling the mechanical interactions between medical devices and anatomical structures and for computing accurately the haptic force feedback is presented. The approach deals with the mechanical interactions using appropriate force and/or motion transmission models named compliant mechanisms. These mechanisms are formulated as a constraint-based problem that is solved in two separate threads running at different frequencies. The first thread processes the whole simulation including the soft-tissue deformations, whereas the second one only deals with computer haptics. This method builds a bridge between the so-called virtual mechanisms (that were proposed for haptic rendering of rigid bodies) and intermediate representations (used for rendering of complex simulations). With this approach, it is possible to describe the specific behavior of various medical devices while relying on a unified method for solving the mechanical interactions between deformable objects and haptic rendering. The technique is demonstrated in interactive simulation of flexible needle insertion through soft anatomical structures with force feedback.
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BibTex

Conference papers

Iros.png
titre
Asynchronous haptic simulation of contacting deformable objects with variable stiffness
auteur
Igor Peterlik, Christian Duriez, Stéphane Cotin
article
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, 2011, san francisco, United States. pp.2608–2613, 2011
resume
Abstract–This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the user. This problem is similar to the stiff virtual wall for which a high refresh rate is required to obtain a stable haptic feedback. However, when dealing with several interacting deformable objects, it is usually impossible to simulate all objects at high rates. To address this problem we propose a quasi-static framework that allows for stable interactions of asynchronously computed deformable objects. In the proposed approach, a deformable object can be computed at high refresh rates, while the remaining deformable virtual objects remain computed at low refresh rates. Moreover, contacts and other constraints between the different objects of the virtual environment are accurately solved using a shared Linear Complementarity Problem (LCP). Finally, we demonstrate our method on two test cases: a snap-in example involving non-linear deformations and a virtual thread interacting with a deformable object.
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/hal-00823762/file/IROS2011.pdf BibTex