About Me

Skills & Expertise
Interactive Physics-Based Simulation
Control of Soft Robots
Augmented / Mixed Reality
Geometric Modeling
Medical Applications
Software Engineering
Awards & Honors
  • Best Paper Award in Advanced Robotics (2018)
  • Best Paper Award at SIMPAR (2016)
  • TVCG Top Ranked AR/VR paper (presented at SIGGRAPH 2015)
  • Dirk Bartz Prize for Visual Computing in Medicine (2015)
  • TVCG Top Ranked AR/VR paper (presented at SIGGRAPH Asia 2014)
  • Best Paper Award at ISMAR (2013)
  • Young Researcher Funding (2011--2015)
Work
Polytech Logo
Head of Embedded Systems Department
2017--now
Inria Logo
Member of Defrost Research Team
2015--now
Inria Logo
Member of Shacra Research Team
2010--15
Polytech Logo
Associate Professor in Computer Science
2008--now
Inria Logo
Research Engineer for Project SIMPLE
2007--08
Harvard Logo
Research Fellow (CIMIT·Harvard Med. School)
2006--07
University of Lille Logo
Ph.D in Computer Science
2005

Research Portfolio

A small selection of research projects

Visual Servoing of Soft Robots

Visual Servoing of Soft Robots

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.

Augmented Reality of Deformable Objects

Augmented Reality of Soft Objects

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.

Interventional Radiology Simulator

Interventional Radiology Simulator

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.

Cataract Surgery Training Simulator

Cataract Surgery Training Simulator

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.

Geometrical and Implicit Modeling

Geometrical and Implicit Modeling

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.

Soft-Robot Design

Soft-Robot Design

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.