Modélisation géométrique et dynamique d'un geste chirurgical

Eric Bainville 1
1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
Abstract : Our work deals with the computer simulation and assistance of a surgical intervention. Three aspects of this problem are studied. First, we describe a system of real time assistance to a surgical operation~: the retroperitoneoscopy. This system displays synthetized images depending on the position of the surgeon's tool in the patient's body. Therefore, the surgeon has new informations at his disposal, helping him to increase the precision and efficiency of his gesture. The design and the realization of the system are explained, and experiments on anatomic specimens are described. Next, in order to simulate the behaviour of the organs involved in the surgical intervention, we propose a new physically based model of a system of solids. This model mixes polygonal rigid bodies and highly deformable smooth objects. The deformable objects are represented by finite element meshes. A robust and realistic model is obtained under the hypothesis of a quasi-static evolution, and through the use of hyperelasticity. We explain in detail the model and give results of experiments. At last, we study some mathematical and algorithmic tools used in the previous models~: the representations of rotations, the mechanics of deformable solids, the rigid matching of two set of points, and the detection of circular features and grids of points in grayscale images.
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Eric Bainville. Modélisation géométrique et dynamique d'un geste chirurgical. Interface homme-machine [cs.HC]. Université Joseph-Fourier - Grenoble I, 1996. Français. ⟨tel-00004351⟩

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