We have worked on the simulation of active phantoms. The simulation relies on an accurate reconstruction of the patient anatomy and a real-time model of the surgical devices (catheter, guide-wire, coil...) for which sliding and friction contacts are taken into account.

We have worked on the simulation of soft medical devices. The simulation relies on an accurate reconstruction of the patient anatomy and a real-time model of the surgical devices (catheter, guide-wire, coil...) for which sliding and friction contacts are taken into account.

We have developed real-time simulation techniques for neurosurgery training and planning. Our approach combines accurate anatomical models with interactive deformation and cutting, enabling surgeons to practice complex procedures in a virtual environment.

In order to increase the control accuracy of soft robots, we have worked on servoing where IR cameras track the deformation of a soft robot and this visual feedback is used by our digital model. Even on dynamic scenarios, precision and accuracy are increased even when visual feedback is temporarily lost.

We have proposed some methods 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.

We have worked on the simulation of interventional radiology procedures. The simulation relies on an accurate reconstruction of the patient anatomy and a real-time model of the surgical devices (catheter, guide-wire, coil...) for which sliding and friction contacts are taken into account.

We have developed a simulation framework in order to perform interactive cataract surgery simulations. Combination of a high-fidelity simulation (advanced bio-mechanical models and intensive use of modern graphics hardware) and replicas of actual surgical tools are able to improve surgeon immersion while training.

Both the segmentation and reconstruction of the vasculature from 3D Rotational Angiography data have been addressed, and adapted to simulation with a tracking algorithm to segment the vessel tree then with an automatic procedure to reconstruct a skeleton-based implicit surface.

We work on an unified software framework dedicated to modeling, simulation, and control of soft robots. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators and contacts using a unified representation based on Lagrange multipliers.