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Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…
Despite recent advances in diagnosis and treatment, atherosclerotic coronary artery diseases remain a leading cause of death worldwide. Various imaging modalities and metrics can detect lesions and predict patients at risk; however,…
This paper introduces a new Finite Element biomechanical model of the human face, which has been developed to be integrated into a simulator for plastic and maxillo-facial surgery. The idea is to be able to predict, from an aesthetic and…
Computational fluid dynamics (CFD) models of blood flow in the left ventricle (LV) and aorta are important tools for analyzing the mechanistic links between myocardial deformation and flow patterns. Typically, the use of image-based…
This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…
Interest in the application of engineering methods to problems in congenital heart disease has gained increased popularity over the past decade. The use of computational simulation to examine common clinical problems including single…
The magnitude of force used in a stabbing incident can be difficult to quantify, although the estimate given by forensic pathologists is often seen as `critical' evidence in medico-legal situations. The main objective of this study is to…
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…
Spine injections are commonly performed in several clinical procedures. The localization of the target vertebral level (i.e. the position of a vertebra in a spine) is typically done by back palpation or under X-ray guidance, yielding either…
Online reinforcement learning (RL) algorithms offer great potential for personalizing treatment for participants in clinical trials. However, deploying an online, autonomous algorithm in the high-stakes healthcare setting makes quality…
Optical force responses underpin nanophotonic actuator design, which requires a large number of force simulations to optimize structures. Commonly used computation methods, such as the finite-difference time-domain (FDTD) method, are…
We propose a visualization application, designed for the exploration of human spine simulation data. Our goal is to support research in biomechanical spine simulation and advance efforts to implement simulation-backed analysis in surgical…
This paper proposes a computer-assisted system for the surgical treatment of exophthalmia. This treatment is classically characterized by a de-compression of the orbit, by the mean of an orbital walls osteotomy. The plan-ning of this…
In the 80's, biomechanicians were asked to work on Computer Aided Surgery applications since orthopaedic surgeons were looking for numerical tools able to predict risks of fractures. More recently, biomechanicians started to address soft…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
\textit{Purpose} Estimating the interaction forces of instruments and tissue is of interest, particularly to provide haptic feedback during robot assisted minimally invasive interventions. Different approaches based on external and…
Objectives : This paper presents a new simulator for maxillo-facial surgery, that gathers the dental and the maxillo-facial analyses together into a single computer-assisted procedure. The idea is first to propose a repositioning of the…