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Christian Duriez
Address:
Phone: +33 (0)3.62.53.15.71 |
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J.Dequidt, C.Duriez, S.Cotin, E.Kerrien Towards Interactive Planning of Coil Embolization in Brain Aneurysms In Proceedings of MICCAI Springer, September 2009 Abstract:Many vascular pathologies can now be treated in a minimally invasive way thanks to interventional radiology. Instead of open surgery, it allows to reach the lesion of the arteries with therapeutic devices through a catheter. As a particular case, intracranial aneurysms are treated by filling the localized widening of the artery with a set of coils to prevent a rupture due to the weakened arterial wall. Considering the location of the lesion, close to the brain, and its very small size, the procedure requires a combination of planning and excellent technical skills. An interactive and reliable simulation, adapted to the patient anatomy, would be an interesting tool for helping the interventional neuroradiologist plan and rehearse a coil embolization procedure. This paper describes an original method to perform interactive simulations of coil embolization and proposes a clinical metric to quantitatively measure how the first coil covers the aneurysm. The simulation relies on an accurate reconstruction of the aneurysm anatomy and a real-time model of the coil for which sliding and friction contacts are taken into account. Simulation results are validated against real embolization procedure using the mentioned clinical metric and exhibit good adequacy. Submitted paper (PDF Format) Video (AVI) |
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C.Duriez, C.Guebert, M.Marchal, S.Cotin, L.Grisoni Interactive Simulation of Flexible Needle Insertions Based on Constraint Models In Proceedings of MICCAI Springer, September 2009 Abstract:This paper presents a new modeling method for the insertion of needles and more generally thin and flexible medical devices into soft tissues. Several medical procedures rely on the insertion of slender medi- cal devices such as biopsy, brachytherapy, deep-brain stimulation. In this paper, the interactions between soft tissues and flexible instruments are reproduced using a set of dedicated complementarity constraints. Each constraint is positionned and applied to the deformable models without requiring any remeshing. Our method allows for the 3D simulation of different physical phenomena such as puncture, cutting, static and dy- namic friction at interactive frame rate. To obtain realistic simulation, we parametrize the model using experimental data. We validate our method through a series of typical simulation examples and new more complex scenarios. Submitted paper (PDF Format) Video (AVI) |
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C.Guebert, C.Duriez, S.Cotin, J.Allard, L.Grisoni Interactive Simulation of Flexible Needle Insertions Based on Constraint Models Poster in Proceedings of SCA Conference, August 2009 Abstract:This paper introduces a new method, based on complementarity constraints, for simulating virtual sutures in soft tissues. Complementarity constraints are known for the modeling of contacts with friction between solid objects, however they can be used for other types of interactions. We focus on modeling the physical nature of the interactions between a soft anatomical structure and a needle or surgical thread during a suturing task. In particular we model needle puncture through soft tissues, followed by the friction that occurs when sliding through the tissue, the cutting forces associated to different tissue layers, and the collision with boundary membranes. A common iterative solver is used for all constraints, in combination with an implicit integration scheme, providing fast and stable simulations even for complex scenarios. Poster abstract (PDF Format) Video (AVI) |
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J.Dequidt, M.Marchal, C.Duriez, E.Kerrien, S. Cotin Interactive Simulation of Embolization Coils: Modeling and Experimental Validation. In Proceedings of MICCAI Springer, September 2008 (accepted for presentation). Abstract:Coil embolization offers a new approach to treat aneurysms. This medical procedure is namely less invasive than an open-surgery as it relies on the deployment of very thin platinum-based wires within the aneurysm through the arteries. When performed intracranially, this procedure must be particularly accurate and therefore carefully planned and performed by experienced radiologists. A simulator of the coil de- ployment represents an interesting and helpful tool for the physician by providing information on the coil behavior. In this paper, an original modeling is proposed to obtain interactive and accurate simulations of coil deployment. The model takes into account geometric nonlinearities and uses a shape memory formulation to describe its complex geometry. An experimental validation is performed in a contact-free environment to identify the mechanical properties of the coil and to quantitatively compare the simulation with real data. Computational performances are also measured to insure an interactive simulation. Submitted paper (PDF Format) Video (AVI) |
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G. Saupin, C. Duriez, S. Cotin and L. Grisoni Efficient Contact Modeling using Compliance Warping. In Computer Graphics International Conference (CGI) Istambul, Turkey,june 2008 Abstract:Contact handling is the key of deformable objects simulation, since without it, objects can not interact with their environment nor with the user. Moreover, a realistic simulation of interaction is necessary for a meaningful haptical rendering. In this paper, we propose a novel and very efficient approach for precise computation of contact response between various types of objects commonly used in computer animation. Being constraint based, this method ensures physical correctness, and respects Singorini's law. It can be used with any deformation model, and is based on the use of the initial compliance matrix and contact warping. Thus, the contact response can be computed efficiently, and the object deformation can still be done in a physically plausible way provided the underlying model is physical. Submitted paper (PDF Format) Video (MOV) |
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G. Saupin, C. Duriez and S. Cotin. Contact model for haptic medical simulation. In In International Symposium on Computational Models for Biomedical Simulation. Springer, july 2008. Abstract:In surgery simulation, precise contact modeling is essential to obtain both realistic behavior and convincing haptic feedback. When instruments create deformations on soft tissues, they modify the bound- ary conditions of the models and will mainly modify their behavior. Yet, most recent work has focused on the more precise modeling of soft tissues while improving efficiency; but this effort is ruined if boundary condi- tions are ill-defined. In this paper, we propose a novel and very efficient approach for precise computation of the interaction between organs and instruments. The method includes an estimation of the contact compli- ance of the concerned zones of the organ and of the instrument. This compliance is put in a buffer and is the heart of the multithreaded lo- cal model used for haptics. Contact computation is then performed in both simulation and haptic loops. It follows unilateral formulation and allows realistic interactions on non-linear models simulated with stable implicit scheme of time integration. An iterative solver, initialized with the solution found in the simulation, allows for fast computation in the haptic loop. We obtain realistic and physical results for the simulation and stable haptic rendering. Submitted paper (PDF Format) Video (MOV) |
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C. Duriez, H. Courtecuisse, J.P. de la Plata Alcalde, P.J. Bensoussan, Contact Skinning. In Proceedings of Eurographics 2008. ACM Press (short paper). Abstract:In this paper, we propose a new approach to model interactions through a skinning method. Skinning is a frequently used technique to animate a mesh based on skeleton motion. In the case of a hand motion sequence used to manipulate and grasp virtual objects, it is essential to accurately represent the contact between the virtual objects and the animated hand. To improve the level of realism, our approach allows to solve accurately friction contact laws. In addition, contact constraints defined on the surface of the hand can be applied onto the skeleton to produce plausible motion. We illustrate our work through two examples: the real-time simulation of a grasping task and a character animation based on motion capture. Submitted paper (PDF Format) Video (MOV) |
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Christian Duriez
SOFA - Simulation Open Framework Architecture.
Invited Presentation at IMSH08, Society for Simulation in Healthcare, San Diego, January 2008.
M.Marchal, J.Allard, C.Duriez and S.Cotin. Towards a Framework for Assessing Deformable Models in Medical Simulation. In International Symposium on Computational Models for Biomedical Simulation. Springer, pages 176-184, july 2008. Jérémie Allard, Stéphane Cotin, François Faure, Pierre-Jean Bensoussan, François Poyer, Christian Duriez, Hervé Delingette and Laurent Grisoni. SOFA - an Open Source Framework for Medical Simulation. Medecine Meets Virtual Reality (MMVR'15), pp. 13-18, 2007. |
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C. Duriez
Rendering of Frictional Contact with Deformable Environments. |
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C. Duriez, S. Cotin, J. Lenoir and P. Neumann..
New Approaches to Catheter Navigation for
Interventional Radiology Simulation.
Computer Aided Surgery 11(6): 300ñ308, Novembre 2006.
J. Lenoir, S. Cotin, C. Duriez, and P. Neumann.
Interactive physically-based simulation of catheter and guidewire
Computer and Graphics 30 (3), 416-422 (2006).
Catheter Simulation Video |  |
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C. Duriez, F. Dubois, A. Kheddar, C. Andriot, Realistic haptic rendering of interacting deformable objects in virtual environments. IEEE transactions on Visualization and Computer Graphics , 12(1): 36-47, Janvier 2006. Abstract:A new computer haptics algorithm to be used in general interactive manipulations of deformable, up to quasirigid, virtual objects is presented. In multi-modal interactive simulations, pertinent haptic feedback computation occurs mainly in the contact space. Subsequently, the fidelity of haptic rendering depends significantly on contact space modeling. Up to date contact modeling and response methods proposed and used in haptics are very simplistic. They do not allow a ‘realistic’ rendering of the subtleties of contact space physical phenomena (neither from the plausible mathematics and physics, nor from the plausible perceptual coherency). This is true in almost all approaches, especially when stick and slip effects due to friction are dominant, or in the presence of contact couplings. In this work, we use Signorini’s contact law and Coulomb’s friction law as a computer haptics basis. Real-time performance is made possible thanks to a linearization of the behavior in the contact space, formulated as the so called Delassus operator, and iteratively solved by a Gauss-Seidel type algorithm. Dynamic deformation uses co-rotational global formulation to obtain the Delassus operator in which the mass and stiffness ratio are dissociated from the simulation time step. This last point is crucial to keep stable haptic feedback. This global approach has been packaged, implemented and tested. Stable and realistic 6D haptic feedback is demonstrated through a clipping task experiment.
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S. Cotin, C. Duriez, J. Lenoir, P. Neumann, S. Dawson New Approaches to Catheter Navigation for Interventional Radiology Simulation. MICCAI'05 (accepted for presentation). Abstract:For over 20 years, interventional methods have improved the outcomes of patients with cardiovascular disease. However, these procedures require an intricate combination of visual and tactile feedback and extensive training periods. In this paper, we describe a series of novel approaches that have lead to the development of a high-fidelity simulation system for interventional neuroradiology. In particular we focus on a new approach for real-time deformation of devices such as catheters and guidewires during navigation inside complex vascular networks. This approach combines a real-time incremental Finite Element Model, an optimization strategy based on substructure decomposition, and a new method for handling collision response in situations where the number of contacts points is very large. We also briefly describe other aspects of the simulation system, from patient-specific segmentation to the simulation of contrast agent propagation and fast volume rendering techniques for generating synthetic X-ray images in real-time. Article (PDF Format) Video (AVI) XviD Codec |
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C. Duriez, C. Andriot, A. Kheddar, Signorini’s contact model for deformable objects in haptic simulations IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japon, 2004. Abstract:In this paper we consider deformable objects in haptic simulations. The physical simulation that drives haptic perception requires a good dynamic behavior. The inputs of the deformable model come from the treatment of the collision. We propose to focus on the contact restitution between deformable objects to guarantee “physical and perceptual realisms” of the haptic feedback. Signorini, in 1933, proposed a physical model of contact for deformable objects interacting with rigid static bodies. This paper shows that the Signorini’s model extents to contacts between two deformable objects using Gauss-Seidel resolution of complementarity problems. An interactive resolution of the overall formulation is presented and experienced on deformable objects using the finite linear-elements method. |
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C. Duriez, C. Andriot, A. Kheddar, A multi-threaded approach for deformable/rigid contacts with haptic feedback, HapticSymposium in IEEE Virtual Reality conference, Chicago, USA, 2004. Abstract:This paper presents a physically based method to deal with haptic feedback of manipulated deformable virtual objects in contact with rigid or deformable environment. The haptic rendering algorithm is based on the Signorini’s formulation of the contact as proposed in theoretical mechanics. Since haptic interaction requires high refresh rates, a multi-threaded methodology, sharing configuration values of the contact, ensures good stability and transparency performances. Thus, the interactive simulation gathers three synchronized process: the visualization process, the deformation/ contact computation process, and the haptic rendering process.
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C. Duriez, Contact frottant entre objets dÈformables dans des simulations temps-rÈel avec retour haptique. thËse de Doctorat de l'UniversitÈ d'Evry, 2004 (in french). Thesis (in french) before the defenceThesis (in french) last version Video of snap-in task with phantom device DivX Codec
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