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Modèles géométriques et physiques pour la simulation d'interventions chirurgicales

Guillaume Picinbono 1 
1 EPIDAURE - Medical imaging and robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : In this thesis, we propose a set of tools necessary for the development of a surgery simulator. First, we define several real-time physically based deformable models allowing us to simulate the deformations and the cutting of human organs. These models are based on the theory of elasticity and the finite element method. We began with the improvement of the linear elastic model by generalizing it to materials having an anisotropic behavior, either because they contain fibers (muscles, tendons), or because they are surrounded by a skin (liver capsule). Nevertheless, the main shortcoming of linear elasticity is that it is only valid under the hypothesis of small displacements. Thus, we propose a new deformable model implementing the St Venant-Kirchhoff non-linear elasticity, which is also valid for large displacements. After having extended this model to anisotropic materials, we propose two optimization methods, either using an adaptive algorithm which combines linear and non-linear models, or implementing a new formulation. The second part of this work is dedicated to the simulation of the interactions between the surgical tools and the virtual organs. For this, we have modelized contacts and some special gestures like sliding, gripping, or cutting. Furthermore, we have addressed the problems related to the use of force feedback devices.
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Submitted on : Wednesday, October 19, 2011 - 11:15:11 PM
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Guillaume Picinbono. Modèles géométriques et physiques pour la simulation d'interventions chirurgicales. Informatique [cs]. Université Nice Sophia Antipolis, 2001. Français. ⟨tel-00633965⟩

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