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The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
Dental disease is a prevalent chronic condition associated with substantial financial burden, personal suffering, and increased risk of systemic diseases. Despite widespread recommendations for twice-daily tooth brushing, adherence to…
Optical flow techniques are becoming increasingly performant and robust when estimating motion in a scene, but their performance has yet to be proven in the area of facial expression recognition. In this work, a variety of optical flow…
Purpose: Robotic assistance in otologic surgery can reduce the task load of operating surgeons during the removal of bone around the critical structures in the lateral skull base. However, safe deployment into the anatomical passageways…
The finite element method (FEM) is among the most commonly used numerical methods for solving engineering problems. Due to its computational cost, various ideas have been introduced to reduce computation times, such as domain decomposition,…
The design of structures submitted to aerodynamic loads usually requires the development of specific computational models considering fluid-structure interactions. Models using structural frame elements are developed in several relevant…
Foundation models have transformed language, vision, and time series data analysis, yet progress on dynamic predictions for physical systems remains limited. Given the complexity of physical constraints, two challenges stand out. $(i)$…
This thesis rigorously studies fundamental reinforcement learning (RL) methods in modern practical considerations, including robust RL, distributional RL, and offline RL with neural function approximation. The thesis first prepares the…
This paper presents the biomechanical finite element models that have been developed in the framework of the computer-assisted maxillofacial surgery. After a brief overview of the continuous elastic modelling method, two models are…
A 3D biomechanical finite element model of the face is presented. Muscles are represented by piece-wise uniaxial tension cable elements linking the insertion points. Such insertion points are specific entities differing from nodes of the…
The nonrigid alignment between a pre-operative biomechanical model and an intra-operative observation is a critical step to track the motion of a soft organ in augmented surgery. While many elastic registration procedures introduce…
Plastic deformation of most crystalline materials is due to the motion of lattice dislocations. Therefore, the simulation of the interaction and dynamics of these defects has become state-of-the-art method to study work hardening, size…
In this work a finite element simulation of the motion of a rigid body in a fluid, with free surface, is described. A completely general referential description (of which both Lagrangian and Eulerian descriptions are special cases) of an…
Artificial intelligence in medical imaging has seen unprecedented growth in the last years, due to rapid advances in deep learning and computing resources. Applications cover the full range of existing medical imaging modalities, with…
Maintaining balance under external hand forces is critical for humanoid bimanual manipulation, where interaction forces propagate through the kinematic chain and constrain the feasible manipulation envelope. We propose \textbf{FAME}, a…
Non-orthogonality errors in unstructured Finite Volume methods for simulating incompressible two-phase flows may break the force-balanced discretization. We show that applying the same explicit non-orthogonality correction for all gradient…
The fibula-free flap (FFF) is a valuable reconstructive technique in maxillofacial surgery; however, the assessment of osteotomy accuracy remains challenging. We devised two novel methodologies to compare planned and postoperative…
The present level of development of molecular force field methods is assessed from the point of view of simulation-based engineering, outlining the immediate perspective for further development and highlighting the newly emerging discipline…
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…
Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for…