ÿþ<HTML> <A Name="Menu"> <HEAD> <META name="description" content="Research on contact and friction between deformable objects in interactive simulations with haptic feedback."> <META name="keywords" content="Christian, Duriez, DURIEZ, CHRISTIAN, haptic, Signorini, Coulomb, contact, friction, deformable, FEM, SauvÈ des Maux, polyarthrite, rhumatoide"> <TITLE>Page personnelle de Christian Duriez / Duriez Christian's web page </TITLE> </HEAD> <BODY BGCOLOR="#7799BB"> <!-- NOM, PRENOM ET ADRESSE --> <font face=helvetica> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <TD width=842 border=1 NOSAVE> <P> <B><FONT face=Arial,Helvetica> <FONT size=+0> Christian Duriez</FONT></FONT></B> <BR><STRONG><FONT face=Arial,Helvetica><FONT size=-1>Research Scientist</FONT></FONT><BR> <FONT size=-1><FONT face=Arial,Helvetica> <A href=" http://www-futurs.inria.fr/"> INRIA Futurs</A>, <A href="http://www.lifl.fr/GRAPHIX/"> projet ALCOVE </A> </FONT></FONT> </STRONG> </P> <P> <FONT face=Arial,Helvetica><FONT size=+0><B>Address</B>:</FONT></FONT> <BR><FONT size=2><FONT face=Arial,Helvetica><STRONG>B timent IRCICA</STRONG> </FONT></FONT><FONTface="Arial, Helvetica, sans-serif"><BR><STRONG><FONT size=2> Parc Scientifique de la Haute Borne <BR>50, avenue Halley B.P. 70478 <BR>59655 Villeneuve d&#8217;Ascq Cedex France</FONT></STRONG> </FONT><STRONG></STRONG> <P><FONT face=Arial,Helvetica><FONT size=+0><B>Phone</B>: <STRONG><FONT size=2>+33 (0)3.62.53.15.71</FONT></STRONG> </FONT></FONT><BR><FONT face=Arial,Helvetica><FONT size=-1><STRONG><FONT size=3>Email</FONT></STRONG>: <A href="mailto:christian . duriez @ inria. fr"><STRONG>christian . duriez @ inria. fr</STRONG> </A> </TD> <TD width=150 height=180 NOSAVE><IMG height=187.5 src="page/photo.jpg" width=150 align=absMiddle></TD> </FONT></TBODY></TABLE> <BR> <HR> <font face=times> <!---------------------------------------- RUBRIQUES ----------------------------------------> <H3 ALIGN=CENTER> <FONT face=Arial,Helvetica> <FONT size=+2> - <a href="./project.html"> <FONT color=#000000> Projects </FONT> </a> - <a href="./index.html"> <FONT color=#0000FF> Research Publications </FONT> </a> - <a href="./sauve.html"> <FONT color=#000000> Writing </FONT> </a> - </FONT> <BR> </H3> <!---------------------------------------- PUBLIS ----------------------------------------> <HR> <BR> <A HREF="#Recent"> Recent work </A> <BR> <A HREF="#Book"> Book chapter </A> <BR> <A HREF="#Journal"> Journal papers </A> <BR> <A HREF="#Conference"> Intenational conference papers </A> <BR> <A HREF="#PhD"> PhD thesis </A> <BR> <A HREF="#Other"> Other </A> <BR> </FONT> <!----------------- RECENT WORKS -----------------> <HR> <HR> <!--<A Name="Recent"> <H3 ALIGN=CENTER> <FONT face=Arial,Helvetica> <FONT size=5> Recent work </FONT> </FONT> </H3> </A>--> <H3 ALIGN=RIGHT> <FONT face=Arial,Helvetica> <FONT size=2> <A HREF="#Menu"> menu </A> </FONT> </FONT> </H3> <BR> <!----------------- -----------------> <TBODY> <!-- MICCAI 2009 : coil embolisation --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> <A Name="Simple"> MICCAI 2009 : Simulation of Coil embolisation</A> </FONT></FONT></H3> </P> <TD width="60%" border=1 NOSAVE> <P> </STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> J.Dequidt, C.Duriez, S.Cotin, E.Kerrien</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Towards Interactive Planning of Coil Embolization in Brain Aneurysms</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>In Proceedings of MICCAI Springer, September 2009</FONT><FONT size=-3></FONT></FONT></B> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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 ûlling 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 ûrst 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. </FONT></FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="2009/CoilEmbo09.pdf"> Submitted paper (PDF Format) </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="2009/MICCAI2009.avi"> Video (AVI) </A> </FONT></FONT> <BR> </TD> <TD width=1 height=130 NOSAVE><IMG height=100 src="2009/p1_real.png" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=100 src="2009/p1_simu.png" align=absRight></TD> <TD width=1 height=130 NOSAVE><IMG height=100 src="2009/p2_real.png" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=100 src="2009/p2_simu.png" align=absRight></TD> </FONT></TBODY></TABLE> <BR> <BR> <!-- MICCAI 2009 : needle simulation --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> <A Name="Simple"> MICCAI 2009 : Simulations of flexible needles</A> </FONT></FONT></H3> </P> <TD width="60%" border=1 NOSAVE> <P> </STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> C.Duriez, C.Guebert, M.Marchal, S.Cotin, L.Grisoni</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Interactive Simulation of Flexible Needle Insertions Based on Constraint Models</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>In Proceedings of MICCAI Springer, September 2009</FONT><FONT size=-3></FONT></FONT></B> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> This paper presents a new modeling method for the insertion of needles and more generally thin and ûexible 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 ûexible 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. </FONT></FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="2009/MICCAINeedleInsertion.pdf"> Submitted paper (PDF Format) </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="2009/Needle.avi"> Video (AVI) </A> </FONT></FONT> <BR> </TD> <TD width=1 height=130 NOSAVE><IMG height=100 src="2009/deviations.png" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=100 src="2009/Steering.png" align=absRight></TD> </FONT></TBODY></TABLE> <BR> <BR> <!-- SCA 2009 : suture simulation --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> <A Name="Simple"> SCA 2009 : Suturing simulation based on complementarity constraints (work in progress)</A> </FONT></FONT></H3> </P> <TD width="60%" border=1 NOSAVE> <P> </STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> C.Guebert, C.Duriez, S.Cotin, J.Allard, L.Grisoni</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Interactive Simulation of Flexible Needle Insertions Based on Constraint Models</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>Poster in Proceedings of SCA Conference, August 2009</FONT><FONT size=-3></FONT></FONT></B> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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. </FONT></FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="2009/PosterSCA09_abstract.pdf"> Poster abstract (PDF Format) </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="2009/video_SCA_NEW.avi"> Video (AVI) </A> </FONT></FONT> <BR> </TD> <TD width=1 height=150 NOSAVE><IMG height=150 src="2009/Bandeau1.png" align=absMiddle></TD> <TD width=1 height=150 NOSAVE><IMG height=150 src="2009/Bandeau2.png" align=absRight></TD> <TD width=1 height=150 NOSAVE><IMG height=150 src="2009/Bandeau3.png" align=absRight></TD> </FONT></TBODY></TABLE> <BR> <BR> <!-- MICCAI 2008 --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> <A Name="Simple"> MICCAI 2008: Simulation of Embolization Coils</A> </FONT></FONT></H3> </P> <TD width="60%" border=1 NOSAVE> <P> </STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> J.Dequidt, M.Marchal, C.Duriez, E.Kerrien, S. Cotin</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Interactive Simulation of Embolization Coils: Modeling and Experimental Validation.</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>In Proceedings of MICCAI Springer, September 2008</FONT><FONT size=-3> (accepted for presentation).</FONT></FONT></B> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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. </FONT></FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="Miccai08/miccai08.pdf"> Submitted paper (PDF Format) </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="Miccai08/SofaEVE_AR_comp.avi"> Video (AVI) </A> </FONT></FONT> <BR> </TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="Miccai08/coils.jpg" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="Miccai08/Capture.jpg" align=absRight></TD> </FONT></TBODY></TABLE> <BR> <BR> <!-- CGI 2008 --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> CGI 2008: New contact model named "Compliance Warping"</FONT></FONT></H3> </P> <TD width="60%" border=1 NOSAVE> <P> </STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> G. Saupin, C. Duriez, S. Cotin and L. Grisoni </FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Efficient Contact Modeling using Compliance Warping.</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>In Computer Graphics International Conference (CGI) Istambul, Turkey,june 2008</FONT><FONT size=-3></B> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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. </FONT></FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="CGI08/CGI08.pdf"> Submitted paper (PDF Format) </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="CGI08/CGI08.mov"> Video (MOV) </A> </FONT></FONT> </TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="CGI08/dinoFallBegin1.png" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="CGI08/dinoFallBegin2.png" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="CGI08/dinoFallBegin3.png" align=absRight></TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="CGI08/dinoFallEnd.png" align=absRight></TD> </FONT></TBODY></TABLE> <BR> <BR> </TBODY> <BR> <BR> <!-- ISBMS 2008 --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> <A Name="HapticMed"> ISBMS 2008: Haptic medical simulation </A> </FONT></FONT></H3> </P> <TD width="60%" border=1 NOSAVE> <P> </STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> G. Saupin, C. Duriez and S. Cotin. </FONT></FONT> <B><FONT face=Arial,Helvetica><FONT size=-1>Contact model for haptic medical simulation.</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>In In International Symposium on Computational Models for Biomedical Simulation. Springer, july 2008.</FONT><FONT size=-3> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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-deûned. 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. </FONT></FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="ISBMS08/ISBMS08.pdf"> Submitted paper (PDF Format) </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="ISBMS08/ISBMS08.mov"> Video (MOV) </A> </FONT></FONT> </TD> <TD width=1 height=170 NOSAVE><IMG height=170 src="ISBMS08/touch_zoom.png" align=absMiddle></TD> <TD width=1 height=170 NOSAVE><IMG height=170 src="ISBMS08/grasp_zoom.png" align=absMiddle></TD> <TD width=1 height=170 NOSAVE><IMG height=170 src="ISBMS08/ISBMS.png" align=absRight></TD> </FONT></TBODY></TABLE> <BR> <BR> </TBODY> <BR> <BR> <!-- EUROGRAPHICS --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> <A Name="Grasping"> Eurographics 2008: short paper on virtual grasping </A> </FONT></FONT></H3> </P> <TD width="60%" border=1 NOSAVE> <P> </STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> C. Duriez, H. Courtecuisse, J.P. de la Plata Alcalde, P.J. Bensoussan, </FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Contact Skinning.</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>In Proceedings of Eurographics 2008. ACM Press</FONT><FONT size=-3> (short paper).</FONT></FONT></B> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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. </FONT></FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="EG2008/contactSkinning.pdf"> Submitted paper (PDF Format) </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="EG2008/EG2008_final.mov"> Video (MOV) </A> </FONT></FONT> </TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="EG2008/screen_shot1.jpg" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="EG2008/screen_shot2.jpg" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="EG2008/screen_shot3.jpg" align=absRight></TD> </FONT></TBODY></TABLE> <BR> <BR> </TBODY> <BR> <BR> <!-- SOFA papers --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> <A Name="SofaPapers"> SOFA papers </A> <A href="http://www.sofa-framework.org"> <IMG height=40 src="SOFA/sofa_logo_small.png" align=absMiddle> </A> </FONT></FONT></H3> </P> <TD rowspan="2" vAlign=left width="60%" > <!--<TR >--> <!-- IMSH 08 --> <FONT face=Arial,Helvetica> <FONT size=-1> Christian Duriez </FONT></FONT> <B><FONT face=Arial,Helvetica><FONT size=-1> SOFA - Simulation Open Framework Architecture. </FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1> Invited Presentation at IMSH08, Society for Simulation in Healthcare, San Diego, January 2008.</FONT></FONT></B> <BR><BR> <!-- ISBMS 08 --> <FONT face=Arial,Helvetica> <FONT size=-1> M.Marchal, J.Allard, C.Duriez and S.Cotin. </FONT></FONT> <B><FONT face=Arial,Helvetica><FONT size=-1> <A HREF="http://www.sofa-framework.org/docs/MADC_ISBMS08.pdf"> Towards a Framework for Assessing Deformable Models in Medical Simulation. </A> </FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1> In International Symposium on Computational Models for Biomedical Simulation. Springer, pages 176-184, july 2008.</FONT></FONT></B> <BR><BR> <!-- MMVR 07 --> <FONT face=Arial,Helvetica> <FONT size=-1> J&eacute;r&eacute;mie Allard, St&eacute;phane Cotin, Fran&ccedil;ois Faure, Pierre-Jean Bensoussan, Fran&ccedil;ois Poyer, Christian Duriez, Herv&eacute; Delingette and Laurent Grisoni. </FONT></FONT> <B><FONT face=Arial,Helvetica><FONT size=-1> <A HREF="http://www.sofa-framework.org/docs/SOFA_MMVR07.pdf"> SOFA - an Open Source Framework for Medical Simulation. </A> </FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1> Medecine Meets Virtual Reality (MMVR'15), pp. 13-18, 2007.</FONT></FONT></B> <BR> </TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="SOFA/Mapping.jpg" align=absMiddle></TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="SOFA/chainAll.png" align=absRight></TD> </TR><TR> <TD width=1 height=130 NOSAVE><IMG height=130 src="SOFA/Pipitron.jpg" align=absRight></TD> <TD width=1 height=130 NOSAVE><IMG height=130 src="SOFA/cataract.png" align=absRight></TD> </TR> </FONT></TBODY></TABLE> <BR> <!----------------- BOOK CHAPTER -----------------> <HR> <HR> <H3 ALIGN=CENTER> <A Name="Book"><FONT face=Arial,Helvetica> <FONT size=5> Book chapter </FONT> </FONT> </A></H3> <H3 ALIGN=RIGHT> <FONT face=Arial,Helvetica> <FONT size=2> <A HREF="#Menu"> menu </A> </FONT> </FONT> </H3> <BR> <!----------------- -----------------> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> haptic rendering of deformable objects</FONT></FONT></H3> </P> <TD width="60%" border=1 NOSAVE> <P> <FONT face=Arial,Helvetica> <FONT size=-1> C. Duriez </FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Rendering of Frictional Contact with Deformable Environments. </FONT></FONT></B><BR> <FONT face=Arial,Helvetica> <FONT size=-1> Haptic Rendering: Algorithms and Applications, A K Peters, Ltd. M.Lin et M.Otaduy editors. </FONT> </FONT> <BR> </TD> <TD width=1 height=130 NOSAVE> <A HREF="page/video_phantom.avi"> <IMG height=130 src="page/clips1.jpg" align=absMiddle> </A> </TD> <TD width=1 height=130 NOSAVE> <IMG height=130 src="page/couplage.jpg"align=absMiddle></TD> </TBODY> </TABLE> <BR> <BR> <!----------------- Journal paper -----------------> <HR> <HR> <H3 ALIGN=CENTER> <A Name="Journal"> <FONT face=Arial,Helvetica> <FONT size=5> Journal papers </FONT> </FONT> </A> </H3> <H3 ALIGN=RIGHT> <FONT face=Arial,Helvetica> <FONT size=2> <A HREF="#Menu"> menu </A> </FONT> </FONT> </H3> <BR> <!----------------- -----------------> <!-- CAS && CG06 --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> Journal papers on catheter navigation simulation </FONT></FONT></H3> </P> <TD width=400 border=1 NOSAVE> <P> <FONT face=Arial,Helvetica> <FONT size=-1> C. Duriez, S. Cotin, J. Lenoir and P. Neumann..</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>New Approaches to Catheter Navigation for Interventional Radiology Simulation.</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1> Computer Aided Surgery 11(6): 300ñ308, Novembre 2006. </FONT> </FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="CAS/CAS 2006_pre_print.pdf"> Article (PDF Format) </A> </FONT></FONT> </P> <P> <FONT face=Arial,Helvetica> <FONT size=-1> J. Lenoir, S. Cotin, C. Duriez, and P. Neumann.</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Interactive physically-based simulation of catheter and guidewire </FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1> Computer and Graphics 30 (3), 416-422 (2006). </FONT> </FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="CG06/CG06.pdf"> Article (PDF Format) </A> </FONT></FONT> </P> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="CAS/EVE_AIMS.avi"> General Presentation Video </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="CAS/EVE_0002.wmv"> Catheter Simulation Video </A> </FONT></FONT> <TD width=96 height=130 NOSAVE><IMG height=200 src="CAS/Sous_struct.jpg" align=absMiddle></TD> <TD width=96 height=130 NOSAVE><IMG height=200 src="CG06/cath.jpg" align=absMiddle></TD> </FONT></TBODY></TABLE> <BR> <BR> <!-- IEEE TVCG --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> Journal paper on haptic rendering </FONT></FONT></H3> </P> <TD width=400 border=1 NOSAVE> <P></STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> C. Duriez, F. Dubois, A. Kheddar, C. Andriot,</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Realistic haptic rendering of interacting deformable objects in virtual environments.</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>IEEE transactions on Visualization and Computer Graphics , 12(1): 36-47, Janvier 2006. </FONT> </FONT></B> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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 &#8216;realistic&#8217; 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&#8217;s contact law and Coulomb&#8217;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. </FONT></FONT></B> <P> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="tvcg-DDKA-05.pdf"> Article (PDF Format) </A> </FONT></FONT> </P> <P> </P> </TD> <TD width=260 height=300 NOSAVE><IMG height=260 width=286 src="page/defo_defo.jpg" align=absMiddle></TD> </FONT></TBODY></TABLE> <!----------------- Conference Paper -----------------> <HR> <HR> <H3 ALIGN=CENTER> <A Name="Conference"> <FONT face=Arial,Helvetica> <FONT size=5> International conference with review comitee </FONT> </FONT> </A> </H3> <H3 ALIGN=RIGHT> <FONT face=Arial,Helvetica> <FONT size=2> <A HREF="#Menu"> menu </A> </FONT> </FONT> </H3> <BR> <!----------------- -----------------> <BR> <ul> G. Saupin, C. Duriez, L. Grisoni, <A HREF="ISVC/isvc_submission.pdf"> Embedded Multigrid Approach For Real-Time Volumetric Deformation </A> , In the proceedings of the International Symposium of Visual Computing (ISVC), Lake Tahoe Nevada, November 2007. </ul> <BR> <ul> C.Syllebranque, S.Boivin, C.Duriez, C.Chaillou Estimation of FEM Parameters of Deformable Bodies from Real Videos, accepted at Haptex07 Workshop. </ul> <BR> <ul> Adrien Theetten, Laurent Grisoni, Christian Duriez and Xavier Merlhiot. <A HREF="http://www2.lifl.fr/~theetten/simulation/Theetten-SPM07.pdf"> Quasi-Dynamic Splines. </A> In Symposium on Solid and Physical Modeling. ACM, 2007. </ul> <BR> <!-- MICCAI --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> MICCAI Paper on interventional radiology simulation </FONT></FONT></H3> </P> <TD width=400 border=1 NOSAVE> <P> </STRONG> <FONT face=Arial,Helvetica> <FONT size=-1> S. Cotin, C. Duriez, J. Lenoir, P. Neumann, S. Dawson</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>New Approaches to Catheter Navigation for Interventional Radiology Simulation.</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>MICCAI'05</FONT><FONT size=-3> (accepted for presentation).</FONT></FONT></B> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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. </FONT></FONT></B> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="MICCAI'05.pdf"> Article (PDF Format) </A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="Miccai_video.avi"> Video (AVI) </A> </FONT></FONT> <BR> <A HREF="http://www.xvid.org/">XviD Codec</A> <BR> </TD> <TD width=96 height=130 NOSAVE><IMG height=130 width=96 src="page/Catheter_1.jpg" align=absMiddle></TD> <TD width=96 height=130 NOSAVE><IMG height=130 width=96 src="page/Catheter_2.jpg" align=absMiddle></TD> <TD width=96 height=130 NOSAVE><IMG height=130 width=96 src="page/Catheter_3.jpg" align=absMiddle></TD> </FONT></TBODY></TABLE> <BR> <BR> <!-- IROS --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> Conference papers on haptic rendering </FONT></FONT></H3> </P> <TD width=540 border=1 NOSAVE> <P> <FONT face=Arial,Helvetica> <FONT size=-1> C. Duriez, C. Andriot, A. Kheddar, </FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Signorini&#8217;s contact model for deformable objects in haptic simulations </FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1> IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japon, 2004. </FONT></FONT> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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 &#8220;physical and perceptual realisms&#8221; 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&#8217;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. </FONT></FONT> <P> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="page/IROS04-987.pdf"> Article (PDF Format) </A> </FONT></FONT> </P> </TD> <TD width=160 border=1 NOSAVE> <P> <IMG width=150 src="page/Signorini.jpg" align=absMiddle> </P> </TD> </TR> </TBODY> <!-- </TABLE> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> --> <CENTER> <!--<TD width=700 NOSAVE> <IMG width=700 src="page/spheres.jpg" align=absMiddle> </TD> <TD width=700 NOSAVE> <IMG width=250 src="page/CylSphere.jpg" align=absMiddle> </TD>--> </CENTER></TABLE> <BR> <BR> <!-- HAPTIC SYMP --> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <TD width=400 border=1 NOSAVE> <P> <FONT face=Arial,Helvetica> <FONT size=-1> C. Duriez, C. Andriot, A. Kheddar, </FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>A multi-threaded approach for deformable/rigid contacts with haptic feedback, </FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1> HapticSymposium in IEEE Virtual Reality conference, Chicago, USA, 2004. </FONT></FONT> </P> <FONT face=Arial,Helvetica> <FONT size=-1> Abstract: </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-2> 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&#8217;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. <P> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="page/newHapticSymp.pdf"> Article (PDF Format) </A> </FONT></FONT> </P> </FONT></FONT></B> <P> </P> <P> </P> </TD> <TD width=200 NOSAVE> <IMG width=150 src="page/collision.jpg" align=absMiddle> </TD> <TD width=200 NOSAVE> <IMG width=130 src="page/clipsRigide.jpg" align=absMiddle> </TD> </FONT></TBODY></TABLE> <BR> <ul> M. Pouliquen, C.Duriez, C. Andriot, A. Bernard, L. Chodorge, F. Gosselin, Real-Time Finite Element Finger Pinch Grasp Simulation, IEEE World Haptic Conference, Italy, 2005. </ul> <BR> <ul> C. Duriez, C. Andriot, A. Kheddar, Interactive haptics for virtual prototyping of deformable objects: snap-in tasks case, EuroHaptics, Dublin, Ireland, 2003. </ul> <BR> <ul> C. Duriez, D. Lamy, C. Chaillou, A parallel manipulator as a haptic interface solution for amniocentesis simulation. IEEE International Workshop on Robot-Human Interactive Communication (ROMAN), Bordeaux-Paris, France, 2001. <BR> </ul> <!----------------- PhD -----------------> <HR> <HR> <H3 ALIGN=CENTER> <A Name="PhD"> <FONT face=Arial,Helvetica> <FONT size=5> PhD thesis </FONT> </FONT> </A> </H3> <H3 ALIGN=RIGHT> <FONT face=Arial,Helvetica> <FONT size=2> <A HREF="#Menu"> menu </A> </FONT> </FONT> </H3> <BR> <!----------------- -----------------> <!-- THESE --> <BR> <BR> <TABLE cellSpacing=10 width="100%" bgColor=#ffffff NOSAVE> <CAPTION></CAPTION> <TBODY> <TR vAlign=center NOSAVE> <P> <H3 ALIGN=CENTER><FONT face=Arial,Helvetica> <FONT size=4> PhD thesis </FONT></FONT></H3> </P> <TD width=300 border=1 NOSAVE> <P> <FONT face=Arial,Helvetica> <FONT size=-1> C. Duriez,</FONT></FONT></B> <B><FONT face=Arial,Helvetica><FONT size=-1>Contact frottant entre objets dÈformables dans des simulations temps-rÈel avec retour haptique.</FONT></FONT></B> <FONT face=Arial,Helvetica> <FONT size=-1>thËse de Doctorat de l'UniversitÈ d'Evry, 2004 (in french).</FONT></FONT> </P> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="page/THESE_CDuriez.pdf"> Thesis (in french) before the defence</A> </FONT></FONT> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="./Christian_Duriez_PhD.pdf"> Thesis (in french) last version</A> </FONT></FONT> </P> <BR> <FONT face=Arial,Helvetica> <FONT size=-1> <A HREF="page/video_phantom.avi"> Video of snap-in task with phantom device </A> </FONT></FONT> <BR> <A HREF="http://www.divxmovies.com/codec/">DivX Codec</A> <P> </P> <P> </P> </TD> <TD width=310 height=200 NOSAVE> <P> <IMG width=120 src="page/clips1.jpg" align=absRight> <IMG width=170 src="page/clips2.jpg" align=absLeft> </P> <P> <IMG width=150 src="page/table1mu00.jpg" align=absRight> <IMG width=150 src="page/table1mu05.jpg" align=absLeft> </P> </TD> </FONT></TBODY></TABLE> <BR> <BR> <!----------------- OTHER PUBLI -----------------> <HR> <HR> <H3 ALIGN=CENTER> <A Name="Other"> <FONT face=Arial,Helvetica> <FONT size=4> Other Publications </FONT> </FONT> </A> </H3> <H3 ALIGN=RIGHT> <FONT face=Arial,Helvetica> <FONT size=2> <A HREF="#Menu"> menu </A> </FONT> </FONT> </H3> <BR> <!----------------- -----------------> <BR> <H4> Patent </H4> <ul> C. Duriez, C. Andriot, Simulation interactive du contact entre objets. French Patent Ref AD 502. Deposed in March 2004. </ul> <H4> Invited paper </H4> <ul> C. Duriez, C. Andriot, A. Kheddar, Adaptation of Signorini's problem for interactive simulations, Integrated Modelling and Analysis in Applied Control and Automation (IMMACA), Genoa, Italy, October 2004. </ul> <H4> French Conference with review comitee </H4> <ul> C.Duriez, F.Dhalenne, D.Lamy, P.Dubois, Retour d&#8217;effort pour un simulateur d&#8217;intervention chirurgicale, Rencontre des jeunes chercheurs en technologie mÈdicale, Tours 2000. </ul> <BR> </BODY> </HTML>