Stephane Cotin

Short Bio

Short Bio – I am Research Director at Inria and leader of the MIMESIS team. My main research interests are in real-time physics-based simulation (of soft tissues, fluids, flexible medical devices, imaging processes) and medical applications of this research, such as training, planning and image guided therapy. I am author or co-author of about 150 scientific articles and involved with several key conferences of our research domain. In an effort to disseminate our work and to accelerate research in these fields, I initiated and developed the SOFA project, which is now a reference Open Source solution for developing advanced simulations. I am also a co-founder and president of the scientific board of InSimo. Before this I was  the research lead and vice-head of the Simulation group at CIMIT and an instructor at Harvard Medical School

Interactive Numerical Simulation for Medicine

My research, and the main focus of my team, is to develop new solutions at the crossroad between imaging, robotics, medicine and computer science.  My other objective is to create a synergy between clinicians and scientists as a mean to develop new technologies that can redefine healthcare. The scientific objectives of our new team, MIMESIS, are related to this ambitious objective. Over the past years we have developed new approaches supporting advanced simulations in the context of simulation for training. The best example of our success in this area was certainly the work done in collaboration with the HelpMeSee foundation, leading to the creation of our start-up InSimo. We now propose to focus our research on the use of real-time simulation for per-operative guidance. The underlying objectives include patient-specific biophysical modeling, dedicated numerical techniques for real-time computation, data assimilation and data-driven simulation.

Awards & Honors

Dirk Bartz Medical Prize – Eurographics 2015 – Award for our contribution to medical simulation through the development of SOFA, Zurich, 2015.
Invitation to the French National Congress – Demonstration of our work on cataract surgery with HelpMeSee, Paris, 2014.
Best Paper Award – ISMAR 2013 – Image-guided Simulation of Heterogeneous Tissue Deformation For Augmented Reality during Hepatic Surgery.  IEEE International Symposium on Mixed and Augmented Reality, 2013. 
Young Scientist Award – MICCAI 2009 – Toward Real-Time Simulation of Blood-Coil Interaction during Aneurysm Embolization. London, 2009. 

 

Best Paper Award – VRIPHYS 2005 – Interactive physically-based simulation of Catheter and Guidewire, Proc VRIPHYS, Oct 2005.
US Army’s Greatest Inventions Award – Special award for our work on emergency training, Washington DC, 2005
CIMIT Career Award – Personal award and funding for my work on surgical training, Boston, 2004
Edward M. Kennedy Award for Health Care Innovation – 2003 – Award for my contributions to medical training and education
Elsevier Computer & Graphics Top Cited Article (2000-2010) – Interactive Physics-based Simulation of Catheter and Guidewire. Computers & Graphics, Volume 30, Issue 3, pages 416-422 (2006).

Lectures & Keynotes

2017: invited talk at the Academy of Surgery (Paris, France)
2017: invited talk at the MEVIS Lab – “Numerical Simulation in Medicine, from Training to Per-Operative Guidance” (Bremen, Germany)
2017: invited talk at the Annual meeting on Image-Guided and Computer-Assisted Liver Surgery – “Augmented Liver Surgery: combining image guidance and computer science” (Mainz, Germany)
2017: invited talk at the 123rd edition of the French Ophthalmology Association (SFO) – “High-Fidelity Training System for Retina Surgery” (Paris, France)
2016: invited talk at the First European workshop on Nanomedicine, Modeling, Virtual Reality and Robotics applied to surgery (Strasbourg, France)
2016: invited talk at the 14th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering (Tel Aviv, Israel)
2016: invited talk at the Business Engineering and Surgical Technologies symposium (Strasbourg, France)
2016: invited talk at the OpenYourMind seminar (Paris, France)
2015: keynote lecture at the 10th Computational Biomechanics for Medicine (Munich, Germany)
2015: keynote lecture at Visual Computing in Biology and Medicine (Chester, UK)
2015: invited talk at HCST Medical Robotics (Tel Aviv, Israel)
2015: invited speaker at the International Conference on Augmented and Virtual Reality (Salento, Italy)
2014: lecture at College de France, “Simulation en médecine : présent et futur” (Paris, France)
2014: invited presentation of our work on the HelpMeSee project, Assemblée Nationale (Paris, France)
2013: invited presentation, séminaire intergouvernemental sur le numérique (Paris, France)
2012: keynote at VRIPHYS conference (Darmstadt, Germany)
2010: invited lecture, INTS conference (Montpellier, France)
2010: invited lecture, Annual National Robotics Meeting  (La Rochelle, France)
2009: invited lecture, Computer Science Colloquium, Korean Institute of Technology (South Korea)
2009: invited lecture, Colloque de la Cité des Géométries (Jeumont, France)

Past & Current Projects

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    Virtual Cutting simulation

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    SOFA Opensource Framework

    A flexible and powerful simulation framework

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    Deep brain stimulation planning

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    SOFA for operating room

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    Planning of Percutaneous Procedures

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    REBOA Training system

    Resuscitative Endovascular Balloon Occlusion of the Aorta

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    Everest

    Virtual platform for surgical training

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    Augmented Ulrasound

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    CELTS

    Laparoscopic Skills Trainer

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    EV3

    Endovascular Simulator

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    RaSimAs

    Regional Anesthesia Simulator

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    Augmented Reality

    Guidance during surgery

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    Anato’mime

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    Cataract Surgery

    The HelpMeSee project

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    Retina Surgery

    High-Fidelity Training System

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    Electrophysiology

    Training for Cardiac Procedures

Virtual Cutting simulation

GENERAL DESCRIPTION

 Virtual cutting of deformable objects is at the core of many applications in interactive simulation. The ability to simulate surgical cuts, dissection or soft tissue tearing is essential for augmenting the capabilities of existing or future simulation systems. In the team Mimesis, we addressed this subject in different ways, the main ideas are presented below.

Remeshing method

We combine a new remeshing algorithm with a fast finite element approach. Using combinatorial maps a separation induced by a cut or tearing is incorporated into a volumetric mesh. Our remeshing idea is based on simple topological operations, that we will explain in two dimensions first and in three dimensions in the latter.

Our approach starts off with a discrete representation of an object as a mesh and the position where a separation is taking place (in grey). Intersections between the separation and edges of the mesh are detected (red).

The triangles around edges that have been identified as being cut, are split into three new triangles inserting a new node on the cut for each cut triangle.

The inserted nodes are connected using an operation called flip 2 to 2. We finally obtain a discrete representation of the separation inside the mesh and duplicating of the inserted nodes results in a mesh that can separate at the separation curve.

In a similar way, our method works in three dimensions: we apply a split 1-4 to put points on the separation surface, then we connect these points by edges by a flip 2-3 and in the last step we put triangles between these edges using an edge removal.

Following this procedure, we obtain a triangular approximation of the separation surface inside the tetrahedral mesh. Using the representation combinatorial maps avoids unnecessary updates of topological structures and allows a computation in real time.

However, solely working with the remeshing idea, a separation surface close to a vertex of the tetrahedral mesh may lead to numerical instabilities and an increased computational cost. Therefore we combine the remeshing idea with an approach, that moves nodes that are close to the separation surface.

The results we obtain are specifically interesting, as they maintain the real-time aspect necessary for simulating surgical interventions. More information can be found in the publication “Virtual Cutting of Deformable Objects based on Efficient Topological Operations” mentioned below.

SOFA Opensource Framework

PROJECT DESCRIPTION

The team Mimesis actively works on the development of SOFA. SOFA is an open-source framework primarily targeted at real-time simulation, with an emphasis on medical simulation. It is mostly intended for the research community to help develop newer models and algorithms. SOFA is currently being developed by 4 Inria teams: Mimesis, Evasion, Defrost and Asclepios. Based on C++, the SOFA engine is built using a flexible plugin architecture. With its high level of modularity, SOFA appears to be an efficient tools for benchmarking and developing new training medical technologies.

Members of the team are also working for the creation of a consortium around SOFA. To know more about SOFA and all the applications based on this simulation framework, you can visit the SOFA official website.

All the simulation work done within the team are using the framework SOFA. Have a look at our gallery !

RELATED VIDEOS

Deep brain stimulation planning

PROJECT DESCRIPTION

 Deep brain stimulation is a neurosurgical treatment involving the permanent implantation of electrodes in the brain, to stimulate a specific deep structure.
Electrical stimulation of some brain structures treats symptoms of motor or affective neurological disorders. The success of the operation relies on the electrode placement precision, for which the goal is to maximize the therapeutic outcomes, and minimize the adverse effects.
To do that, a preoperative planning step determine the target coordinates to stimulate, as well as the electrode trajectory to reach it, thanks to a combination of medical images of the patient and numerical tools.
However, intraoperative brain deformation, called brain shift, might invalidate the planning.
This project relied on a biomechanical model of brain shift which comprises a mechanical model for deformation, as well as a model of cerebrospinal fluid leak.
We presented a preoperative tool, based on our model, in order to provide the surgeon with an information on the deformation risks, that he could use to select a safe trajectory for the patient, even in the case of brain shift.
Moreover, we proposed an intraoperative registration method based on our biomechanical model, in order to compute the new location  of anatomical structures.
Finally, thanks to a model of insertion of the electrode and its interaction with brain tissue, we reproduced the operating protocol in order to compute the electrode curvature due to brain shift.

Related Publications

 Anticipation of Brain Shift in Deep Brain Stimulation Automatic Planning Noura Hamzé, Alexandre Bilger, Christian Duriez, Stéphane Cotin, Caroline Essert IEEE Engineering in Medicine and Biology Society (EMBC’15), Aug 2015, Milan, Italy. IEEE, pp.3635 – 3638 2015

Intra-operative Registration for Deep Brain Stimulation Procedures based on a Full Physics Head Model Alexandre Bilger, Éric Bardinet, Sara Fernandez-Vidal, Christian Duriez, Pierre Jannin, Stéphane Cotin MICCAI 2014 Workshop on Deep Brain Stimulation Methodological Challenges-2nd edition

Computation and visualization of risk assessment in deep brain stimulation planning Alexandre Bilger, Christian Duriez, Stéphane Cotin Studies in health technology and informatics 196, 2014 p. 29-35,

Intra-operative Registration for Deep Brain Stimulation Procedures based on a Full Physics Head Model Alexandre Bilger, Eric Bardinet, Sara Fernández-Vidal, Christian Duriez, Pierre Jannin, Stéphane Cotin MICCAI 2014 Workshop on Deep Brain Stimulation Methodological Challenges – 2nd edition, Sep 2014, Boston, United States. 2014

Brain-shift aware risk map for Deep Brain Stimulation Planning Alexandre Bilger, Caroline Essert, Christian Duriez, Stéphane Cotin DBSMC – MICCAI 2012 Workshop on Deep Brain Stimulation Methodological Challenges, Oct 2012, Nice, France. 2012

Biomechanical Simulation of Electrode Migration for Deep Brain Stimulation Alexandre Bilger, Jérémie Dequidt, Christian Duriez, Stéphane Cotin 14th International Conference on Medical Image Computing and Computer-Assisted Intervention – MICCAI 2011, Sep 2011, Toronto, Canada.

Thesis

Patient-specific biomechanical simulation for deep brain stimulation Alexandre Bilger Modeling and Simulation. Université des Sciences et Technologie de Lille, 2014. English

SOFA for operating room

GENERAL DESCRIPTION

 In December 2014, a new ADT national initiative started. The objective of this ADT is twofold:

Firstly, we aim at achieving a level of quality and robustness compatible with IEC 62304 for the core of SOFA and a reduced set of components. This does not include the certification of the code itself, but rather the implementation of a comprehensive development process that will enable the certification by companies wishing to integrate this code into their systems.

Secondly, the objective is to add new features specific to the needs of using intraoperative: interoperability with equipment from the operating room, acquisition and real-time processing of full HD video streams, data assimilation and predictive filters, path planning, visualization for augmented reality, or user interfaces dedicated to the operating room.

RELATED PUBLICATIONS

 Framework for Augmented Reality in Minimally Invasive Laparoscopic Surgery Bruno Marques, Rosalie Plantefève, Frederick Roy, Nazim Haouchine, Emmanuel Jeanvoine, Igor Peterlik, Stéphane Cotin Proceedings of iOR15: 1st International Workshop on Intelligent Operating Rooms, 17th International Conference on E-health Networking, Application & Services (IEEE Healthcom 2015), Boston, 2015.

Improving depth perception during surgical augmented reality Bruno Marques, Nazim Haouchine, Rosalie Plantefeve, Stéphane Cotin SIGGRAPH [Poster], Aug 2015, Los Angeles, United States. pp.Article No. 24, 2015.

Planning of Percutaneous Procedures

PROJECT DESCRIPTION

Needles are used in many forms of medical diagnosis and treatment, from tissue biopsies to placement of radioactive seeds for cancer treatment. It is now possible to perform such procedures under 2D or 3D image guidance, allowing the assessment of the needle placement. In addition, new thin and flexible needles that can be steered through deformable tissues around tissue obstacles, permit to reach specified anatomical targets that would otherwise not be accessible. One key difficulty remains: soft tissue motion, either due to breathing or deformation induced by the needle, changes the location of the initial target. Either when using image guidance, or robotic control of the needle insertion, this remains a major obstacle.

In this project we developed an advanced path planning method which accounts for both tissue and needle deformation, avoids anatomical obstacles, and maximizes chances to reach the target. This has direct applications in preoperative planning, per-operative guidance, and control for robotics. Our approach combined advanced modeling of the needle, liver tissue deformation, tissue-tool interactions, and planning algorithms.

By offering the ability to accurately plan percutaneous procedures while accounting for tissue and needle deformation, our approach has the potential to improve targeting accuracy for a wide range of procedures, including biopsy, and tumor ablation. These advances could in return improve the outcome of existing procedures and enable needle-based procedures for conditions that currently require open surgery or systemic treatment.

RELATED PUBLICATIONS

Preoperative trajectory planning for percutaneous procedures in deformable environments Noura Hamzé, Igor Peterlík, Stéphane Cotin, Caroline Essert Computerized Medical Imaging and Graphics, Elsevier, 2015

REBOA

PROJECT DESCRIPTION

REBOA (Resuscitative Endovascular Balloon Occlusion of the Aorta) is a potentially life saving procedure to stem bleeding into the abdomen and lower body. A balloon catheter is inserted through into the common femoral artery in the groin specific zones in the aorta and inflated, temporarily blocking blood flow while repairs are effected. It is typically performed without live imaging assistance, and animal-based training is not suitable. A simulation-based training system is needed to allow military and civilian trauma and emergency physicians to learn standard technique and use of new REBOA catheters.

Expanding our previous works on interventional radiology simulation, we are developing the physics-based models for catheter and guidewire motion, blood flow and graphical rendering towards a novel simulator for REBOA that will include physical vascular access, simulated passage of the IR instruments into the aorta with accompanying training/educational content, device withdrawal and closure.

The system is designed to be compatible with CODA balloon catheters, the newer ER-REBOA catheter and other similar systems. Motion of and reaction forces on the devices passing through the vasculature, and blood flow within virtual vessels is computed in real-time, and synthetic views of virtual instrument motion can be displayed to the trainee to provide understanding of the procedure and illustrate when errors are committed.

Errors such as venous access and incorrect location of balloon inflation can be detected. The underlying software architecture links the wireless, battery powered trackers to a portable tablet or similar interface, which can record performance for later review and evaluation.

For more information on the REBOA procedure, visit this website: http://www.traumaready.com/reboa/

EVEREST

PROJECT DESCRIPTION

EVEREST research project funded by ANR (l’Agence National de la Recherche) is a project that aims at creation of Virtual Platform for Surgical Training.
In this context, Flexible endoscopy is a minimally invasive surgical technique that remains very challenging to learn. We have developed a first version of a training simulator using advanced physics and real-time computation. A final prototype of the simulator is scheduled for delivery mid-2018.

The projects consists of the following steps:

  • Development of the endoscopy simulator: Ex-vivo, in-vivo feasibility study with Xsens (operator) and Aurora tracking systems (endoscope).
  • Development of the tracking method.
  • Validation of a ‘machine learning’  and ‘dynamic time warping’ method for movements recognition during endoscopic gestures.
  • Writing of a clinical protocol «Study of both operator and endoscope movements during digestive endoscopy ».
Our team is a partner for the organization of flexible endoscopy courses by prototyping a first version of a low cost simulator of flexible endoscopy based on an hardware component (developed in collaboration with the University of Twente, the Netherlands) and a software component simulating the movement of the flexible endoscope.
We are also involved in real-time simulation of the parametric endoscope from real-life experiments, in a free work space.
Next steps will be to take into account the environment of the endoscope in order to constrain its movements and work on the material part, to measure the movements of the endoscope and control it in flexion as well as to participate in the validation of the flexible endoscopy skills measurement simulator.

Augmented Ultrasound

PROJECT DESCRIPTION

Ultrasound (US) imaging is ideal for hepatic surgery guidance, but it has the disadvantage of limited field of view besides poor image quality. Fusing intraoperative US with preoperative data (multi modality registration) will solve these disadvantages and would be ideal during image-guided interventions. To achieve pre and intraoperative registration the vessel features from both modalities will be used. During surgery the liver suffers considerable deformation that needs to be taken into account. These encompass the 2 main objectives of the project:

1. Intraoperative vessel extraction from US, and initial registration of preoperative model.

2. Liver deformation from biomechanical model driven from US images’ vessels.

Computer-enhanced laparoscopic training system

Computer-Enhanced Laparoscopic Training System

CELTS represents an innovative and intuitive solution to early laparoscopic surgical training. This training system arose from surveys of practicing laparoscopic surgeons and addresses the skills required to attain proficiency in early surgical practice. Unlike virtual reality simulators, CELTS uses real laparoscopes, video displays and exchangeable instruments, so learning is intuitive to the student. An integrated tracking device follows both right and left instrument position while the software computes a set of key parameters including depth perception, ambidexterity, smoothness of motion, instrument orientation, path length and time. From these parameters, a single score describing student performance, is instantaneoulsy computed and displayed to the user.

The CELTS hardware and software architectures were expressly designed to permit task-independent performance assessment. Beginning with some of the SAGES FLS tasks, CELTS also permits suturing using actual needles and suture, including laceration repair and Nissen wraps. The score computed by the system represents a statistical comparison of student performance to an archived and expandable base of experts. CELTS is web-compatible, so scores can be transmitted to central data files at offsite locations. .

Related publications:

  • Nicholas Stylopoulos, Stéphane Cotin, Sk Maithel, M Ottensmeyer, Pg Jackson, et al.. Computer-enhanced laparoscopic training system (CELTS): bridging the gap. Surgical Endoscopy and Other Interventional Techniques, 2004, 18 (5), pp.782--789.
  • Stéphane Cotin, Nicholas Stylopoulos, Mark Ottensmeyer, Paul Neumann, Ryan Bardsley, et al.. Surgical training system for laparoscopic procedures. US Patent App. 10/797,874. 2004.
  • Nicholas Stylopoulos, Stéphane Cotin, Steven Dawson, Mark Ottensmeyer, Paul Neumann, et al.. CELTS: a clinically-based Computer Enhanced Laparoscopic Training System. Stud Health Technol Inform., 2003, 94, pp.336--342.
  • Stéphane Cotin, Nicholas Stylopoulos, Mark Ottensmeyer, Paul Neumann, David Rattner. Metrics for laparoscopic skills trainers: the weakest link!. International Conference on Medical Image Computing and Computer-Assisted Intervention, . pp.35--43, 2002.

EV3

Simulation of Endovascular Procedures

Project Description

Endovascular surgery is a medical specialty of minimally invasive procedures which treats pathologies affecting the blood vessels relying on the use of catheters, guide-wires and other endovascular devices.
During the intervention, the clinician relies entirely on fluoroscopic images, obtained through a X-ray beam, allowing to display in real time the anatomy of the patient, the current position of the catheter and its displacements within the blood vessels.
Despite the evident benefits of this technique, the exposure of both clinicians and patients to cumulative doses of ionizing radiation is an important issue. A contrast medium – which is usually allergenic and nephrotoxic – needs to be injected regularly in the vascular system in order to visualize blood vessels through which the instruments are inserted.
In addition, fluoroscopic images are characterized by a lack of depth perception and by a poor quality of visualization, due to overlaying structures within the grey-scale image.
To overcome all the above limitations, we propose an augmented scenario in which 2D fluoroscopic images are combined with a 3D real-time simulation of the catheter navigation within the blood vessels.
The main aim of this project is to find the best fitting method for the implementation of such simulation (physics-based simulation, stochastic filtering..) and then eventually integrating it within an operating room.

Publications

Augmented 3D Catheter Navigation using Constrained Shape from Template – Raffaella Trivisonne, Erwan Kerrien, Stéphane Cotin. Hamlyn Symposium, Jun 2017, London, United Kingdom

RaSimAs

Project Description

Regional Anesthesia Simulator and Assistant (The RASimAs project ) was a European research project with the purpose of gathering European experts from very diverse fields, from computer sciences to anesthesiology, to bring an innovative tool in the hands of the medical doctors to perform safer regional anesthesia for the patient at reduced cost for the society. For that purpose, a virtual reality simulator and assistant were developed, providing an innovative way for medical doctors to train extensively on virtual patients and to be assisted by additional patient-specific information during the procedure.

The project’s goals were to develop two different but complementary end products :

  1. a patient-specific Regional Anaesthesia Simulator (RASim) enhanced with ultrasound guidance
  2. a Regional Anaesthesia Assistant (RAAs), which will assist the physicians during the actual procedures.

The MIMESIS team was a leader of a Work Package in charge of Patient-Specific Virtual Models.

The whole operation of regional anesthesia was simulated into SOFA. The anatomy of the patient (skin, bones, muscles, nerves and vessels) was modelized based on the finite element method. A simulated needle is inserted into the limb being headed for the nerve that have to be blocked. The simulator handles an Ultra-Sound visualisation as well as electrical nerve stimulation.

Expected impact

In many cases, general anesthesia is still favored over RA even when RA should theoretically be the method of choice, despite its documented benefits for patients: lower cardiovascular stress and other complications, reduced postoperative pain, earlier mobility, shorter hospital stay, and ultimately significantly lower costs. The slow adoption of RA is due to the lack of physician training.

Therefore, the key challenge is the training of physicians in order to increase the market adoption of RA procedures. RASimAs is expected to bring significant clinical, economic and scientific impacts. In particular the results of RASimAs will enable to stimulate the replacement of general anesthesia by regional anesthesia in many cases, leading to improved patient care, reduced complications and lower costs.

Controlled clinical trials to evaluate computer-based models and patient-specific approach will demonstrate the benefits of the technology in clinical environment. Advanced research in virtual reality medical simulation as well as real-time assistance based on patient-specific data will accelerate the scientific deployment of such technologies in clinical environment. Finally, by replacing general anesthesia with RA and improving the success rate of RA procedures, significant reduction of costs are expected, estimated at 100,000 Euros by year and operating theater.

Publications

Real-time Error Control for Surgical Simulation Huu Phuoc Bui, Satyendra Tomar, Hadrien Courtecuisse, Stéphane Cotin, Stéphane Bordas BIOMECHANICS AND COMPUTER ASSISTED SURGERY MEETS MEDICAL REALITY, Aug 2017, Lille, France. 2017,

Augmented Reality in Surgery

General Description

Despite the improvements of surgical techniques and tools, some interventions remain very challenging for clinicians. During abdominal minimally invasive surgery visual feedback is limited. Only a partial view of the organ’s surface is seen through the endoscopic camera. Moreover, the pneumoperitoneum, required for  minimally invasive procedures, strongly deforms the abdominal organs, making it very difficult to mentally register the pre-operative CT data.  Still, the surgeons need to know where internal structures such as tumors or vessels are located. Therefore, they have to mentally register the preoperative images of the organs onto the endoscopic view to locate these structures.

Our contribution is to provide surgeons with an enhanced visualization of organ’s internal structures during the surgery. This involves biomechanical modeling of the liver, including its vascular structures, and real-time, elastic registration of the pre-operative data onto a partial view of the liver surface. This surface is reconstructed from a pair of laparoscopic images acquired with a stereo-endoscopic camera (Storz or Intuitive Surgical).

Related Publications

Using Contours as Boundary Conditions for Elastic Registration during Minimally Invasive Hepatic SurgeryNazim Haouchine, Frederick Roy, Lionel Untereiner, Stéphane Cotin International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea.

Simultaneous Pose Estimation and Augmentation of Elastic Surfaces from a Moving Monocular CameraNazim Haouchine, Marie-Odile Berger, Stephane Cotin International Symposium on Mixed and Augmented Reality, Sep 2016, Merida, Mexico.

Patient-specific Biomechanical Modeling for Guidance during Minimally-invasive Hepatic SurgeryRosalie Plantefève, Igor Peterlik, Nazim Haouchine, Stéphane Cotin Annals of Biomedical Engineering, Springer Verlag, 2015.

Monocular 3D Reconstruction and Augmentation of Elastic Surfaces with Self-occlusion Handling.  Nazim Haouchine, Jeremie Dequidt, Marie-Odile Berger, Stephane Cotin IEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2015.

Impact of Soft Tissue Heterogeneity on Augmented Reality for Liver Surgery.  Nazim Haouchine, Stephane Cotin, Igor Peterlik, Jeremie Dequidt, Mario Sanz-Lopez, Erwan Kerrien, Marie-Odile Berger IEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2015, 21 (5), pp.584 – 597.

Augmented Reality during Cutting and Tearing of Deformable Objects. Christoph Paulus, Nazim Haouchine, David Cazier, Stephane Cotin IEEE International Symposium on Mixed and Augmented Reality, Sep 2015, Fukuoka, Japan.

Surgical Augmented Reality with Topological Changes. Christoph Paulus, Nazim Haouchine, David Cazier, Stephane Cotin Medical Image Computing and Computer Assisted Interventions, Oct 2015, München, Germany

Handling Topological Changes during Elastic Registration: Application to Augmented Reality in Laparoscopic Surgery
Christoph Joachim Paulus, Nazim Haouchine, Seong-Ho Kong, Renato Vianna Soares, David Cazier, Stéphane Cotin International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2016

Anatomime

Anatomical Mirror

General Description

Many approaches have been proposed to represent and structure anatomy in order to facilitate its learning: illustrations, books, cadaver dissections and 3D models. However, in these static media, it is difficult to understand and analyse motion, which is essential for a better understanding of anatomy. We have developed an original and innovative tool to learn anatomy named "Anatomime". It allows the user to visualize a human-size virtual anatomical model (skin, skeleton, muscles, nerves, veins, arteries and organs) while it follows the user's movements. A Kinect is used to capture body motions, and a physics-based model is used to provide a robust, realistic animation of the virtual body.

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High-fidelity training

Cataract Surgery Simulation

General Description

At the center of HelpMeSee’s global campaign to reduce cataract blindness is a simulation-based training program focused on training specialists in MSICS (Manual Surgical Incision Cataract Surgery), a high quality and low-cost procedure that treats cataract blindness. Our training program prepares eye care professionals to deliver the high-volume MSICS procedures needed to reduce the backlog of patients awaiting treatment.

To make this large-scale training possible, we are developing HelpMeSee’s Eye Surgical Simulator, which combines realistic computer graphics and physics modeling with motion controls and haptic feedback to accurately simulate the MSICS procedure. This surgical simulator is part of an integrated learning system designed to support the training of tens of thousands of cataract surgeons. The benefits of simulation-based training include

  • Ability to achieve a higher level of proficiency before completing the live surgery that is part of training
  • Monitoring of surgical performance and improved instructors’ feedback
  • Unlimited repetition of surgical steps until the desired level of proficiency is achieved
  • Documentation of the specialist’s proficiency level through each stage of training

The HelpMeSee simulation training program is intended to replace the traditional MSICS training, which is primarily dependent on performing live surgery. HelpMeSee believes that the Eye Surgical Simulator will reduce the time required to acquire surgical skills and qualifying for independent surgery. Once completed, simulation-based training will likely prove to be a more effective method to train the large numbers of qualified surgeons who are needed to significantly reduce the number of blind people due to cataracts.

Related publications

Real-time simulation of contact and cutting of heterogeneous soft-tissues - Hadrien Courtecuisse, Jeremie Allard, Pierre Kerfriden, Stephane Pierre-Alain Bordas, Stephane Cotin, Christian Duriez. Medical Image Analysis, Elsevier, 2014, 18 (2), pp.394-410.

Preconditioner-Based Contact Response and Application to Cataract Surgery - Hadrien Courtecuisse, Jérémie Allard, Christian Duriez, Stéphane Cotin. G. Fichtinger and A. Martel and T. Peters. MICCAI - 14th International Conference on Medical Image Computing and Computer Assisted Intervention - 2011, Sep 2011, Toronto, Canada. Springer, 6891, pp.315-322, 2011, Lecture Notes in Computer Science.

A Prototype of Simulation System for Cataract Surgery Training - Elodie Dumortier, Stephane Cotin, Jérémie Dequidt, Jean-Francois RoulandEuropean Society of Cataract & Refractive Surgeons Winter Meeting, 2011, Istanbul, Turkey. 2011

Assessment Metrics For A Prototype Of Simulation System For Cataract Surgery Training - Elodie Dumortier, Stephane Cotin, Jérémie Dequidt, Jean-Francois RoulandAnnual Meeting of the Association for Research in Vision and Opthalmology, 2011, Fort Lauderdale, United States. 2011

Computer-Based Simulation of Cataract Surgery: Toward a New Teaching ParadigmNadia Boubchir, Stephane Cotin, Olivier Comas, Frederick Roy, Christian Duriez, Jérémie Dequidt, Jeremie Allard, Jean-Francois RoulandAnnual Meeting of the American Academy of Ophthalmology, 2010, Fort Lauderdale, United States. 2010

Computer-Based Simulation of IOL Injection: Toward a Full Featured Cataract Surgery Training System - Nadia Boubchir, Stephane Cotin, Christian Duriez, Jérémie Dequidt, Jeremie Allard, Jean-Francois RoulandAnnual Meeting of the American Academy of Ophthalmology, 2009, San Diego, United States. 2009

RESET

Project Description

According to the world health organization, retinal diseases are responsible for at least 10 millions of blind people. They represent already 15% of the causes of visual impairment and are probably underestimated.

Retina surgery is complex, various and patient-specific. The full breadth of training for a retina specialist represents on average more than 10 years. This is obviously related to the difficulty of accessing the retina and possible complication rates in case of errors, but also due to the relatively large number of surgical options: retinal laser surgery (used to treat a variety of problems including retinal tears, retinal holes, small retinal detachments and leaking blood vessels); scleral buckling surgery (considered as the traditional surgery for retinal detachments); pneumatic retinopexy (involves the intraocular injection of an inert gas bubble to press on the retina and seal the retinal break); and vitrectomy (used to treat the most severe retinal detachments).

Throughout this project we have developed a high-fidelity training system for retinal surgery. The simulator uses a custom-designed hardware (developed by MOOG, in collaboration with HelpMeSee) which includes a haptic interface and a binocular. The haptics uses an admittance control paradigm, involving a force sensor for high fidelity feel. On the software side, we have continued the development of a realistic eye model (work initially started for our project on cataract surgery). The main novelties include the interactive placement of trocars, the insertion of various instruments through the trocars, and the manipulation of the epiretinal membrane. The membrane is modeled as a set of shell elements solved using a FEM method. Tearing of the virtual membrane is computed using stress or strain analysis. All computations are performed in real-time and include the computation of the deformation, collision detection, collision response and realistic rendering.

Related Publications

RESET: REtinal Surgery systEm for Training. S. Cotin, J.J. Keppi, J. Allard, R. Bessard, H. Courtecuisse, D. Gaucher.  European Association for Vision and Eye Research Conference, 2015.

Haptic Rendering of Hyperelastic Models with Friction. H. Courtecuisse, Y. Adagolodjo, H. Delingette, C. Duriez. International Conference on Intelligent Robots and Systems (IROS), 2015.

Electrophysiology

Description

Recent progress in cardiac catheterization and devices allowed the development of new therapies for severe cardiac diseases like arrhythmias and heart failure. The skills required for such interventions are still very challenging to learn, and typically acquired over several years. Virtual reality simulators can reduce this burden by allowing to practice such procedures without consequences on patients.

Our contribution: Proposition of the first training system dedicated to cardiac electrophysiology, including pacing and ablation procedures. This framework involves a catheter navigation that faithfully reproduces issues intrinsic to intracardiac catheterization and an efficient GPU-based electrophysiological model. We developed a multithreading approach to compute both real-time simulations (navigation and electrophysiology) asynchronously. With this method, the simulation reaches high computational performance that allows to account for user interactions in real-time. Based on a scenario of cardiac arrhythmia, the user-guided simulator is able to navigate inside vessels and cardiac cavities with a catheter and to reproduce an ablation procedure involving tasks:

  • extra-cellular potential measurements,
  • endocardial surface reconstruction,
  • electrophysiology mapping,
  • RF ablation,
  • electrical stimulation.

This work is a step towards computerized medical learning curriculum.

Related Publications

PhD Thesis:

Interactive Patient-Specific Simulation of Cardiac Electrophysiology Hugo Talbot Computer Science [cs]. Université des Sciences et Technologies de Lille, 2014.  English

Reports:

Deliverable D10.4.2 Hugo Talbot, Federico Spadoni, Maxime Sermesant, Nicholas Ayache, Hervé Delingette [Research Report] 2013, pp.22

Publications:

Interactive Training System for Interventional Electrocardiology Procedures Medical Image Analysis (2016)Talbot, H. and Spadoni, F. and Duriez, C. and Sermesant, M. and O ‘Neill, M. and Jaïs, P. and Cotin, S. and Delingette, H.

Personalization of Cardiac Electrophysiology Model using the Unscented Kalman Filtering  Hugo Talbot, Stephane Cotin, Reza Razavi, Christopher Rinaldi, Hervé Delingette Computer Assisted Radiology and Surgery (CARS 2015), Jun 2015, Barcelona, Spain

Interactive Training System for Interventional Electrocardiology Procedures H Talbot, F Spadoni, Christian Duriez, M Sermesant, Stéphane Cotin, Hervé Delingette 6th International Symposium on Biomedical Simulation – ISBMS 2014, Oct 2014, Strabsourg, France. pp.11 – 19, 2014

Surgery Training, Planning and Guidance Using the SOFA Framework Hugo Talbot, Nazim Haouchine, Igor Peterlik, Jeremie Dequidt, Christian Duriez, Hervé Delingette, Stephane Cotin Eurographics, May 2015, Zurich, Switzerland

Towards an Interactive Electromechanical Model of the Heart Hugo Talbot, Stéphanie Marchesseau, Christian Duriez, Maxime Sermesant, Stéphane Cotin, Hervé Delingette Interface Focus, Royal Society publishing, 2013, The Virtual Physiological Human: Integrative Approaches to Computational Biomedicine, 3 (2), pp.4.

Towards An Interactive Electromechanical Model of the Heart Interface Focus Royal Society (2012) Talbot, H. and Marchesseau, S. and Duriez, C. and Sermesant, M. and Cotin, S. and Delingette, H.

Journals & conferences

Publications

Find more of my publications on Google Scholar :

Journal articles -

Vision-based Force Feedback Estimation for Robot-assisted Surgery using Instrument-constrained Biomechanical 3D Maps Nazim Haouchine, Winnie Kuang, Stéphane Cotin, Michael Yip IEEE Robotics and Automation Letters, IEEE 2018, 〈10.1109/LRA.2018.2810948〉

Journal articles -

Controlling the error on target motion through real-time mesh adaptation: applications to Deep Brain Stimulation Huu Phuoc Bui, Satyendra Tomar, Hadrien Courtecuisse, Michel Audette, Stéphane Cotin, Stéphane Bordas International Journal for Numerical Methods in Biomedical Engineering, John Wiley and Sons, 2017, pp.1-26. 〈10.1002/cnm.2958〉

Real-time Error Control for Surgical Simulation Huu Phuoc Bui, Satyendra Tomar, Hadrien Courtecuisse, Stéphane Cotin, Stéphane Bordas IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2017, pp.12

Multiorgan Motion Tracking in Dynamic Magnetic Resonance Imaging for Evaluation of Pelvic System Mobility and Shear Strain Zhifan Jiang, Jean-François Witz, Pauline Lecomte-Grosbras, Jeremie Dequidt, Stéphane Cotin, Christelle Rubod, Christian Duriez, Mathias Brieu Strain, Wiley-Blackwell, 2017, 53 (2), 〈10.1111/str.12224 〉

Blood vessel modeling for interactive simulation of interventional neuroradiology procedures Erwan Kerrien, Ahmed Yureidini, Jeremie Dequidt, Christian Duriez, René Anxionnat, Stéphane Cotin Medical Image Analysis, Elsevier, 2017, 35, pp.685 – 698. 〈10.1016/j.media.2016.10.003〉

Fast Elastic Registration of Soft Tissues under Large Deformations Igor Peterlik, Hadrien Courtecuisse, Robert Rohling, Purang Abolmaesumi, Christopher Nguan, Stéphane Cotin, Septimiu E Salcudean Medical Image Analysis, Elsevier, In press

Intraoperative Biomechanical Registration of the Liver: Does the Heterogeneity of the Liver Matter?Rosalie Plantefève, Igor Peterlik, Stéphane Cotin IRBM, Elsevier Masson, In press

Conference Papers -

Automatic biomechanical graph matching CT-CBCT fusion Jaime Garcia Guevara, Igor Peterlik, Marie-Odile Berger, Stéphane Cotin Surgetica 2017, Nov 2017, Strasbourg, France. 2017

DejaVu: Intra-operative Simulation for Surgical Gesture Rehearsal Nazim Haouchine, Danail Stoyanov, Frederick Roy, Stéphane Cotin Medical Image Computing and Computer Assisted Interventions Conference MICCAI 2017, Oct 2017, Quebec City, Canada

Silhouette-based Pose Estimation for Deformable Organs Application to Surgical Augmented Reality Yinoussa Adagolodjo, Raffaella Trivisonne, Nazim Haouchine, Stéphane Cotin, Hadrien Courtecuisse IROS 2017 – IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 2017

An Immersed Boundary Method for Detail-Preserving Soft Tissue Simulation from Medical Images Christoph Paulus, Roland Maier, Daniel Peterseim, Stéphane Cotin Computational Biomechanics for Medicine, Sep 2017, Quebec, Canada

Image-driven Stochastic Identification of Boundary Conditions for Predictive Simulation Igor Peterlik, Nazim Haouchine, Lukáš Ručka, Stéphane Cotin 20th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2017, Québec, Canada. 2017

Real-time Error Control for Surgical Simulation Huu Phuoc Bui, Satyendra Tomar, Hadrien Courtecuisse, Stéphane Cotin, Stéphane Bordas BIOMECHANICS AND COMPUTER ASSISTED SURGERY MEETS MEDICAL REALITY, Aug 2017, Lille, France. 2017, 〈http://595.euromech.org/〉

Template-based Monocular 3D Recovery of Elastic Shapes using Lagrangian Multipliers Nazim Haouchine, Stéphane Cotin Computer Vision and Pattern Recognition (CVPR), Jul 2017, Honolulu, Hawai, United States

Augmented 3D Catheter Navigation using Constrained Shape from Template Raffaella Trivisonne, Erwan Kerrien, Stéphane Cotin Hamlyn Symposium, Jun 2017, London, United Kingdom

Face-based Smoothed Finite Element Method for Real-time Simulation of soft tissue Andrea Mendizabal, Rémi Duparc, Huu Phuoc Bui, Christoph Paulus, Igor Peterlik, Stéphane Cotin SPIE Medical Imaging, Feb 2017, Orlando, United States. SPIE Medical Imaging

Poster communications -

Deformed Reality: Proof of concept and preliminary results Nazim Haouchine, Antoine Petit, Frederick Roy, Stéphane Cotin ISMAR 2017 – 16th IEEE International Symposium on Mixed and Augmented Reality, Oct 2017, Nantes, France. 2017

Journal articles -

Handling Topological Changes during Elastic Registration: Application to Augmented Reality in Laparoscopic Surgery Christoph Joachim Paulus, Nazim Haouchine, Seong-Ho Kong, Renato Vianna Soares, David Cazier, Stéphane Cotin International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2016

Robust Augmented Reality registration method for Localization of Solid Organs’ Tumors Using CT-derived Virtual Biomechanical Model and Fluorescent Fiducials Seong-Ho Kong, Nazim Haouchine, Renato Soares, Andrey S Klymchenko, Bohdan Andreiuk, Bruno Marques, Galyna Shabat, Thierry Piéchaud, Michele Diana, Stéphane Cotin, Jacques Marescaux Surgical Endoscopy, Springer Verlag (Germany), 2016, 〈10.1007/s00464-016-5297-8〉

Conference papers -

Using Contours as Boundary Conditions for Elastic Registration during Minimally Invasive Hepatic Surgery Nazim Haouchine, Frederick Roy, Lionel Untereiner, Stéphane Cotin International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea

Simultaneous Pose Estimation and Augmentation of Elastic Surfaces from a Moving Monocular Camera Nazim Haouchine, Marie-Odile Berger, Stephane Cotin International Symposium on Mixed and Augmented Reality, Sep 2016, Merida, Mexico

Segmentation and Labelling of Intra-operative Laparoscopic Images using Structure from Point Cloud Nazim Haouchine, Stephane Cotin International Symposium on Biomedical Imaging : “From Nano to Macro” (ISBI 2016), Apr 2016, Prague, Czech Republic

3D Physics-Based Registration of 2D Dynamic MRI Data Raffaella Trivisonne, Igor Peterlik, Stéphane Cotin, Hadrien Courtecuisse MMVR – Medicine Meets Virtual Reality, Apr 2016, Los Angeles, United States. 2016

Journal articles -

Patient-specific Biomechanical Modeling for Guidance during Minimally-invasive Hepatic Surgery Rosalie Plantefève, Igor Peterlik, Nazim Haouchine, Stéphane Cotin Annals of Biomedical Engineering, Springer Verlag, 2015

Preoperative trajectory planning for percutaneous procedures in deformable environments Noura Hamzé, Igor Peterlík, Stéphane Cotin, Caroline Essert Computerized Medical Imaging and Graphics, Elsevier, 2015, 47, 〈10.1016/j.compmedimag.2015.10.002〉

B-spline Based Multi-organ Detection in Magnetic Resonance Imaging Zhifan Jiang, Jean-Francois Witz, M Lecomte-Grosbras, Jeremie Dequidt, Christian Duriez, Michel Cosson, Stéphane Cotin, M Brieu Strain, Wiley-Blackwell, 2015, 51, pp.235 – 247. 〈10.1111/str.12136〉

Monocular 3D Reconstruction and Augmentation of Elastic Surfaces with Self-occlusion Handling Nazim Haouchine, Jeremie Dequidt, Marie-Odile Berger, Stephane Cotin IEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2015, pp.14. 〈10.1109/TVCG.2015.2452905〉

Impact of Soft Tissue Heterogeneity on Augmented Reality for Liver Surgery Nazim Haouchine, Stephane Cotin, Igor Peterlik, Jeremie Dequidt, Mario Sanz-Lopez, Erwan Kerrien, Marie-Odile Berger IEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2015, 21 (5), pp.584 – 597. 〈10.1109/TVCG.2014.2377772〉

Virtual Cutting of Deformable Objects based on Efficient Topological Operations Christoph Paulus, Lionel Untereiner, Hadrien Courtecuisse, Stephane Cotin, David Cazier Visual Computer, Springer Verlag, 2015, 31 (6-8), pp.831-841. 〈10.1007/s00371-015-1123-x〉

Conference papers -

Framework for augmented reality in Minimally Invasive laparoscopic surgery Bruno Marques, Rosalie Plantefeve, Frédérick Roy, Nazim Haouchine, Emmanuel Jeanvoine, Igor Peterlik, Stéphane Cotin HealthCom 2015, Oct 2015, Boston, United States. 2015 17th International Conference on E-health Networking, Application & Services (HealthCom) 2015, 〈10.1109/HealthCom.2015.7454467〉

Surgical Augmented Reality with Topological Changes Christoph Paulus, Nazim Haouchine, David Cazier, Stéphane Cotin Medical Image Computing and Computer Assisted Interventions, Oct 2015, München, Germany. 〈http://miccai2015.org/〉

Augmented Reality during Cutting and Tearing of Deformable Objects Christoph Paulus, Nazim Haouchine, David Cazier, Stephane Cotin The 14th IEEE International Symposium on Mixed and Augmented Reality, Sep 2015, Fukuoka, Japan. pp.6

Anticipation of Brain Shift in Deep Brain Stimulation Automatic Planning Noura Hamzé, Alexandre Bilger, Christian Duriez, Stéphane Cotin, Caroline Essert IEEE Engineering in Medicine and Biology Society (EMBC’15), Aug 2015, Milan, Italy. IEEE, pp.3635 – 3638 2015, 〈10.1109/EMBC.2015.7319180〉

Augmented Reality for Cryoablation Procedures Hugo Talbot, Frederick Roy, Stéphane Cotin SIGGRAPH 2015, Aug 2015, Los Angeles, United States

Fracture in Augmented Reality Nazim Haouchine, Alexandre Bilger, Jeremie Dequidt, Stephane Cotin SIGGRAPH [Poster], Aug 2015, Los Angeles, United States. 2015

Improving depth perception during surgical augmented reality Bruno Marques, Nazim Haouchine, Rosalie Plantefeve, Stephane Cotin SIGGRAPH [Poster], Aug 2015, Los Angeles, United States. pp.Article No. 24, 2015, 〈10.1145/2787626.2792654〉

Personalization of Cardiac Electrophysiology Model using the Unscented Kalman Filtering Hugo Talbot, Stephane Cotin, Reza Razavi, Christopher Rinaldi, Hervé Delingette Computer Assisted Radiology and Surgery (CARS 2015), Jun 2015, Barcelona, Spain

Surgery Training, Planning and Guidance Using the SOFA Framework Hugo Talbot, Nazim Haouchine, Igor Peterlik, Jeremie Dequidt, Christian Duriez, Hervé Delingette, Stephane Cotin Eurographics, May 2015, Zurich, Switzerland

Virtual Cutting of Deformable Objects based on Efficient Topological Operations Christoph Paulus, Lionel Untereiner, Hadrien Courtecuisse, Stéphane Cotin, David Cazier Computer Graphics International, 2015, Strasbourg, France. 2015

Journal articles -

Modèle pour la simulation de tissus connectifs Julien Bosman, Christian Duriez, Stéphane Cotin Revue Electronique Francophone d’Informatique Graphique, Association Française d’Informatique Graphique, 2014, pp.13

Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Fabien Péan, Evelyne Ferrary, Stéphane Cotin, Olivier Sterkers, Christian Duriez BioMed Research International , Hindawi Publishing Corporation, 2014, pp.10. 〈10.1155/2014/891742〉

Real-time simulation of contact and cutting of heterogeneous soft-tissues Hadrien Courtecuisse, Jeremie Allard, Pierre Kerfriden, Stephane Pierre-Alain Bordas, Stephane Cotin, Christian Duriez Medical Image Analysis, Elsevier, 2014, 18 (2), pp.394-410. 〈10.1016/j.media.2013.11.001〉

Simulation de l’interaction entre film fluide et solides déformables Vincent Majorczyk, Stéphane Cotin, Jérémie Allard, Christian Duriez Revue Electronique Francophone d’Informatique Graphique, Association Française d’Informatique Graphique, 2014, 8 (2), pp.10

Conference papers -

Automatic Alignment of pre and intraoperative Data using Anatomical Landmarks for Augmented Laparoscopic Liver Surgery Rosalie Plantefeve, Nazim Haouchine, Jean Pierre Radoux, Stéphane Cotin International Symposium on Biomedical Simulation ISBMS, Oct 2014, Strasbourg, France. 2014

Interactive Training System for Interventional Electrocardiology Procedures H Talbot, F Spadoni, Christian Duriez, M Sermesant, Stéphane Cotin, Hervé Delingette 6th International Symposium on Biomedical Simulation – ISBMS 2014, Oct 2014, Strabsourg, France. pp.11 – 19, 2014, 〈10.1007/978-3-319-12057-7_2〉

Testbed for assessing the accuracy of interventional radiology simulations Mario Sanz-Lopez, Jérémie Dequidt, Erwan Kerrien, Christian Duriez, Marie-Odile Berger, Stéphane Cotin ISBMS – 6th International Symposium on Biomedical Simulation, Oct 2014, Strasbourg, France. Springer, 2014, LNCS

The Role of Ligaments: Patient-Specific or Scenario-Specific ? Julien Bosman, Nazim Haouchine, Jérémie Dequidt, Igor Peterlik, Stéphane Cotin, Christian Duriez International Symposium on Biomedical Simulation ISBMS, Oct 2014, Strasbourg, France. 2014

Intra-operative Registration for Stereotactic Procedures driven by a combined Biomechanical Brain and CSF Model Alexandre Bilger, Éric Bardinet, Sara Fernández-Vidal, Christian Duriez, Pierre Jannin, Stéphane Cotin ISBMS – International Symposium on Biomedical Simulation, Oct 2014, Strasbourg, France. 2014

Interactive Training System for Interventional Electrocardiology Procedures Hugo Talbot, Federico Spadoni, Christian Duriez, Maxime Sermesant, Stéphane Cotin, Hervé Delingette Biomedical Simulation: 6th International Symposium, ISBMS 2014, Strasbourg, France, October 16-17, 2014. Proceedings, Oct 2014, Strasbourg, France. Lecture Notes in Computer Science (LNCS), 8789, pp.11-19, 2016, 〈10.1007/978-3-319-12057-7_2〉

Intra-operative Registration for Deep Brain Stimulation Procedures based on a Full Physics Head Model Alexandre Bilger, Eric Bardinet, Sara Fernández-Vidal, Christian Duriez, Pierre Jannin, Stéphane Cotin MICCAI 2014 Workshop on Deep Brain Stimulation Methodological Challenges – 2nd edition, Sep 2014, Boston, United States. 2014

Single View Augmentation of 3D Elastic Objects Nazim Haouchine, Jérémie Dequidt, Marie-Odile Berger, Stéphane Cotin International Symposium on Mixed and Augmented Reality – ISMAR, Sep 2014, Munich, Germany. 2014

Atlas-based Transfer of Boundary Conditions for Biomechanical Simulation Rosalie Plantefeve, Igor Peterlik, Hadrien Courtecuisse, Raffaella Trivisonne, Jean-Pierre Radoux, Stéphane Cotin MICCAI – 17th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2014, Boston, United States. 2014

Réalité augmentée pour la chirurgie minimalement invasive du foie utilisant un modèle biomécanique guidé par l’image Nazim Haouchine, Stéphane Cotin, Jérémie Dequidt, Erwan Kerrien, Marie-Odile Berger Reconnaissance de Formes et Intelligence Artificielle (RFIA) 2014, Jun 2014, France. 2014

Model-Based Identification of Anatomical Boundary Conditions in Living Tissues Igor Peterlik, Hadrien Courtecuisse, Christian Duriez, Stéphane Cotin Information Processing in Computer Assisted Interventions, Jun 2014, Fukuoka, Japan. 2014, 〈10.1007/978-3-319-07521-1_21〉

Haptic Rendering on Deformable Anatomical Tissues with Strong Heterogeneities Guillaume Kazmitcheff, Hadrien Courtecuisse, Yann Nguyen, Mathieu Miroir, Alexis Bozorg-Grayeli, Stéphane Cotin, Olivier Sterkers, Christian Duriez Eurohaptics 2014, Jun 2014, Versailles, France. Springer, 2014

Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery Nazim Haouchine, Jérémie Dequidt, Igor Peterlik, Erwan Kerrien, Marie-Odile Berger, Stéphane Cotin International Conference on Robotics and Automation (ICRA), Jun 2014, Hong Kong, China. 2014

Virtual Simulation of Stapedotomy Surgery Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Evelyne Ferrary, Stéphane Cotin, Christian Duriez, Olivier Sterkers ARO 2014, Feb 2014, San Diego, CA, United States. 2014

Constraint-Based Simulation for Non-Rigid Real-Time Registration Hadrien Courtecuisse, Igor Peterlik, Raffaella Trivisonne, Christian Duriez, Stéphane Cotin Medicine Meets Virtual Reality, Feb 2014, Manhattan Beach, California., United States. 2014

Interactive Planning of Cryotherapy Using Physically-Based Simulation Hugo Talbot, Myriam Lekkal, Rémi Béssard-Duparc, Stéphane Cotin MMVR 21 – Medicine Meets Virtual Reality – 2014, Feb 2014, Manhattan Beach, California, United States. 2014

Computation and Visualization of Risk Assessment in Deep Brain Stimulation Alexandre Bilger, Christian Duriez, Stéphane Cotin MMVR 21 – Medicine Meets Virtual Reality, Feb 2014, Manhattan Beach, California, United States. IOS Press, 2014

Patents -

Interface de commande à distance d’un dispositif de contrôle et d’affichage d’informations dans une salle d’opération chirurgicale Stéphane Cotin, Géry Casiez, Myriam Lekkal, Raffaella TrivisonneFrance, N° de brevet: 14 60867. 2014

Journal articles -

A Combined Force and Thermal Feedback Interface for Minimally Invasive Procedures Simulation Mohamed Guiatni, Vincent Riboulet, Christian Duriez, Abderrahmane Kheddar, Stéphane Cotin IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2013, 18 (3), pp.1170-1181. 〈10.1109/TMECH.2012.2197862〉

Towards an Interactive Electromechanical Model of the Heart Hugo Talbot, Stéphanie Marchesseau, Christian Duriez, Maxime Sermesant, Stéphane Cotin, Hervé Delingette Interface Focus, Royal Society publishing, 2013, The Virtual Physiological Human: Integrative Approaches to Computational Biomedicine, 3 (2), pp.4.

Novel DNA polymerase mutations conferring cytomegalovirus resistance: input of BAC-recombinant phenotyping and 3D model. Sébastien Hantz, Sébastien Cotin, Eva Borst, Anthony Couvreux, Arielle Salmier, Isabelle Garrigue, Pierre Merville, Catherine Mengelle, Michel Attal, Martin Messerle, Sophie Alain Antiviral Research, Elsevier Masson, 2013, 98(1), pp.130-4. 〈10.1016/j.antiviral.2013.02.002〉

Deformation-based Augmented Reality for Hepatic Surgery Nazim Haouchine, Jérémie Dequidt, Marie-Odile Berger, Stéphane Cotin Studies in Health Technology and Informatics, IOS Press, 2013, 184

Computer-based training system for cataract surgery Jérémie Dequidt, Hadrien Courtecuisse, Olivier Comas, Jérémie Allard, Christian Duriez, Stéphane Cotin, Elodie Dumortier, Olivier Wavreille, Jean-Francois Rouland Transactions of the Society for Modeling and Simulation International, SAGE, 2013, 〈http://is.gd/2Mihj1〉〈10.1177/0037549713495753〉

Validation Method of a Middle Ear Mechanical Model to Develop a Surgical Simulator Guillaume Kazmitcheff, Mathieu Miroir, Yann Nguyen, Evelyne Ferrary, Olivier Sterkers, Stéphane Cotin, Christian Duriez, Alexis Bozorg-Grayeli Audiology and Neurotology, Karger, 2013, 〈10.1159/000356301〉

Modelling Prostate Deformation: SOFA versus Experiments Pedro Moreira, Igor Peterlik, Herink Mark, Christian Duriez, Stéphane Cotin, Sarthak Misra Mechanical Engineering Research, Canadian Center of Science and Education, 2013, 3 (2), p64. 〈10.5539/mer.v3n2p64〉

Conception d’un atlas mécanique pour la simulation de la chirurgie de l’oreille moyenne Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Evelyne Ferrary, Christian Duriez, Stéphane Cotin, Olivier Sterkers Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2013, 130 (4), pp.A76

Évaluation de techniques chirurgicales innovantes pour l’otospongiose à l’aide d’un simulateur chirurgical Yann Nguyen, Guillaume Kazmitcheff, Mathieu Miroir, Evelyne Ferrary, Christian Duriez, Stéphane Cotin, Olivier Sterkers Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2013, 130 (4), pp.A76

Conference papers -

Connective Tissues Simulation on GPU Julien Bosman, Christian Duriez, Stéphane Cotin 10th Workshop on Virtual Reality Interaction and Physical Simulation, Nov 2013, Lille, France. 2013

Haptic Rendering of Interacting Dynamic Deformable Objects Simulated in Real-Time at Different Frequencies François Dervaux, Igor Peterlik, Jérémie Dequidt, Stéphane Cotin, Christian Duriez IROS – IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. IEEE, 2013

Image-guided Simulation of Heterogeneous Tissue Deformation For Augmented Reality during Hepatic Surgery Nazim Haouchine, Jérémie Dequidt, Igor Peterlik, Erwan Kerrien, Marie-Odile Berger, Stéphane Cotin ISMAR – IEEE International Symposium on Mixed and Augmented Reality 2013, Oct 2013, Adelaide, Australia. 2013

Simulation of Lipofilling Reconstructive Surgery using coupled Eulerian Fluid and Deformable Solid Models Vincent Majorczyk, Stéphane Cotin, Christian Duriez, Jérémie Allard Medical Image Computing and Computer Assisted Intervention Society, Sep 2013, Nagoya, Japan. Springer, 2013

Towards a better understanding of pelvic system disorders using numerical simulation Pauline Lecomte-Grosbras, Mouhamadou Nassirou – Diallo, Jean-François Witz, Damien Marchal, Jérémie Dequidt, Stéphane Cotin, Michel Cosson, Christian Duriez, Mathias Brieu Medical Image Computing and Computer Assisted Intervention, Sep 2013, Nagoya, Japan. 2013

Registration of a Validated Mechanical Atlas of Middle Ear for Surgical Simulation Guillaume Kazmitcheff, Christian Duriez, Mathieu Miroir, Yann Nguyen, Olivier Sterkers, Alexis Bozorg-Grayeli, Stéphane Cotin MICCAI 2013, 2013, Nagoya, Japan. 2013

Books -

Information Processing in Computer-Assisted Interventions – Proceedings of the 4th International IPCAI conference, Heidelberg, June 26, 2013. Stéphane Cotin, Pierre Jannin, Dean Barratt, Nassir Navab, Gabor FichtingerBarratt, D. and Cotin, S. and Fichtinger, G. and Jannin, P. and Navab, N. Springer, 7915, pp.111, 2013, 978-3-642-38568-1

Journal articles -

Modeling and Real-Time Simulation of a Vascularized Liver Tissue Igor Peterlík, Christian Duriez, Stéphane Cotin Medical Image Computing and Computer-Assisted Intervention–MICCAI 2012, 2012, pp.50–57

Mise au point d’un simulateur et d’un modèle mécanique de l’oreille moyenne pour la chirurgie ossiculaire Guillaume Kazmitcheff, Mathieu Miroir, Christian Duriez, Yann Nguyen, Stéphane Mazalaigue, Evelyne Ferrary, Julie Bensimon, Olivier Sterkers, Stéphane Cotin, Alexis Bozorg-Grayeli Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2012, 129 (4), pp.A77. 〈10.1016/j.aforl.2012.07.204〉

Conference papers -

Physics-based Augmented Reality for 3D Deformable Object Nazim Haouchine, Jérémie Dequidt, Erwan Kerrien, Marie-Odile Berger, Stéphane Cotin Eurographics Workshop on Virtual Reality Interaction and Physical Simulation, Dec 2012, Darmstadt, Germany. 2012

Towards Real-Time Computation of Cardiac Electrophysiology for Training Simulator Hugo Talbot, Christian Duriez, Hadrien Courtecuisse, Jatin Relan, Maxime Sermesant, Stéphane Cotin, Hervé Delingette Statistical Atlases and Computational Models of the Heart – STACOM 2012 in the 15th International Conference on Medical Image Computing and Computer Assisted Intervention – MICCAI 2012, Oct 2012, Nice, France. Springer, 2012, Lecture Notes in Computer Science

Brain-shift aware risk map for Deep Brain Stimulation Planning Alexandre Bilger, Caroline Essert, Christian Duriez, Stéphane Cotin DBSMC – MICCAI 2012 Workshop on Deep Brain Stimulation Methodological Challenges, Oct 2012, Nice, France. 2012

Local implicit modeling of blood vessels for interactive simulation Ahmed Yureidini, Erwan Kerrien, Jérémie Dequidt, Christian Duriez, Stéphane CotinAyache, Nicholas and Delingette, Hervé and Golland, Polina and Moria, Kensaku. MICCAI – 15th International Conference on Medical Image Computing and Computer-Assisted Intervention, Oct 2012, Nice, France. Springer, 7510, pp.553-560, 2012, Lecture Notes in Computer Science. 〈10.1007/978-3-642-33415-3_68〉

Interactive Electromechanical Model of the Heart for Patient-Specific Therapy Planning and Training using SOFA Hugo Talbot, Stéphanie Marchesseau, Christian Duriez, Hadrien Courtecuisse, Jatin Relan, Maxime Sermesant, Stéphane Cotin, Hervé Delingette VPH 2012, Sep 2012, Londres, United Kingdom. 2012

Robust RANSAC-based blood vessel segmentation Ahmed Yureidini, Erwan Kerrien, Stéphane CotinDave R. Haynor and Sébastien Ourselin. SPIE Medical Imaging, Feb 2012, San Diego, CA, United States. SPIE Press, 8314, pp.8314M, 2012, Image Processing. 〈10.1117/12.911670〉

Book sections -

A (Near) Real-Time Simulation Method of Aneurysm Coil Embolization Yiyi Wei, Stéphane Cotin, Jérémie Dequidt, Christian Duriez, Jérémie Allard, Erwan KerrienYasuo Murai. Aneurysm, InTech, pp.223-248, 2012, 978-953-51-0730-9. 〈10.5772/48635〉

SOFA: A Multi-Model Framework for Interactive Physical Simulation François Faure, Christian Duriez, Hervé Delingette, Jérémie Allard, Benjamin Gilles, Stéphanie Marchesseau, Hugo Talbot, Hadrien Courtecuisse, Guillaume Bousquet, Igor Peterlik, Stéphane CotinYohan Payan. Soft Tissue Biomechanical Modeling for Computer Assisted Surgery, 11, Springer, pp.283-321, 2012, Studies in Mechanobiology, Tissue Engineering and Biomaterials, 978-3-642-29013-8. 〈10.1007/8415_2012_125〉

Journal articles -

Constraint-based haptic rendering of multirate compliant mechanisms Igor Peterlik, Mourad Nouicer, Christian Duriez, Stéphane Cotin, Abderrahmane Kheddar IEEE Transactions on Haptics (ToH), IEEE, 2011, 4 (3), pp.175-187. 〈10.1109/TOH.2011.41〉

Interactive Blood-Coil Simulation in Real-time during Aneurysm Embolization Yiyi Wei, Stéphane Cotin, Jérémie Allard, Le Fang, Chunhong Pan, Songde Ma Computers and Graphics, Elsevier, 2011, Visual Computing in Biology and Medicine, 35 (2), pp.422-430. 〈10.1016/j.cag.2011.01.010〉

Conference papers -

Computer-based simulation for the endovascular treatment of intracranial aneurysms Ahmed Yureidini, Jérémie Dequidt, Erwan Kerrien, Christian Duriez, Stéphane Cotin LIVIM Imaging Worshop, Dec 2011, Strasbourg, France. 2011

Preconditioner-Based Contact Response and Application to Cataract Surgery Hadrien Courtecuisse, Jérémie Allard, Christian Duriez, Stéphane CotinG. Fichtinger and A. Martel and T. Peters. MICCAI – 14th International Conference on Medical Image Computing and Computer Assisted Intervention – 2011, Sep 2011, Toronto, Canada. Springer, 6891, pp.315-322, 2011, Lecture Notes in Computer Science. 〈10.1007/978-3-642-23623-5_40〉

Biomechanical Simulation of Electrode Migration for Deep Brain Stimulation Alexandre Bilger, Jérémie Dequidt, Christian Duriez, Stéphane CotinGabor Fichtinger and Anne Martel and Terry Peters. 14th International Conference on Medical Image Computing and Computer-Assisted Intervention – MICCAI 2011, Sep 2011, Toronto, Canada. Springer, 6891/2011, pp.339-346, 2011, Lecture Notes in Computer Science. 〈10.1007/978-3-642-23623-5_43〉

Reconstruction robuste des vaisseaux sanguins par surfaces implicites locales Ahmed Yureidini, Erwan Kerrien, Stéphane Cotin Orasis, Jun 2011, Praz-sur-Arly, France. 2011

Realisation d’un Prototype de Simulateur Fonctionnel pour la Chirurgie de la Cataracte Elodie Dumortier, Stephane Cotin, Jérémie Dequidt, Jean-Francois Rouland 117e CONGRES de la Société Française d’Ophtalmologie, 2011, paris, France. 2011

Assessment Metrics For A Prototype Of Simulation System For Cataract Surgery Training Elodie Dumortier, Stephane Cotin, Jérémie Dequidt, Jean-Francois Rouland Annual Meeting of the Association for Research in Vision and Opthalmology, 2011, Fort Lauderdale, United States. 2011

A Prototype of Simulation System for Cataract Surgery Training Elodie Dumortier, Stephane Cotin, Jérémie Dequidt, Jean-Francois Rouland European Society of Cataract & Refractive Surgeons Winter Meeting, 2011, Istanbul, Turkey. 2011

Journal articles -

GPU-based Real-Time Soft Tissue Deformation with Cutting and Haptic Feedback Hadrien Courtecuisse, Hoeryong Jung, Jérémie Allard, Christian Duriez, Doo Yong Lee, Stéphane Cotin Progress in Biophysics and Molecular Biology, Elsevier, 2010, Special Issue on Biomechanical Modelling of Soft Tissue Motion, 103 (2-3), pp.159-168. 〈10.1016/j.pbiomolbio.2010.09.016〉

Conference papers -

Asynchronous Preconditioners for Efficient Solving of Non-linear Deformations Hadrien Courtecuisse, Jérémie Allard, Christian Duriez, Stéphane Cotin VRIPHYS – Virtual Reality Interaction and Physical Simulation, Nov 2010, Copenhagen, Denmark. Eurographics Association, pp.59-68, 2010, 〈10.2312/PE/vriphys/vriphys10/059-068〉

High Fidelity Haptic Rendering for Deformable Objects Undergoing Topology Changes Hoeryong Jung, Stéphane Cotin, Christian Duriez, Jérémie Allard, Doo Yong Lee EuroHaptics – Haptics: Generating and Perceiving Tangible Sensations International Conference, Jul 2010, Amsterdam, Netherlands. Springer, 6191, pp.262-268, 2010, LNCS. 〈10.1007/978-3-642-14064-8_38〉

A Shell Model for Real-time Simulation of intra-ocular Implant Deployment Olivier Comas, Stéphane Cotin, Christian DuriezBello, Fernando; Cotin, Stéphane. International Symposium on Computational Models for Biomedical Simulation, Jan 2010, Phoenix, United States. Springer, 5958, pp.160–170, 2010, Lecture Notes in Computer Science. 〈10.1007/978-3-642-11615-5_15〉

Shell Model for Reconstruction and Real-Time Simulation of Thin Anatomical Structures Olivier Comas, Christian Duriez, Stephane Cotin MICCAI, 2010, China. pp.371-379, 2010

Computer-Based Simulation of Cataract Surgery: Toward a New Teaching Paradigm Nadia Boubchir, Stephane Cotin, Olivier Comas, Frederick Roy, Christian Duriez, Jérémie Dequidt, Jeremie Allard, Jean-Francois Rouland Annual Meeting of the American Academy of Ophthalmology, 2010, Fort Lauderdale, United States. 2010

Computer-Based Training System for Cataract Surgery Elodie Dumortier, Stephane Cotin, Jérémie Dequidt, Christian Duriez, Jeremie Allard, Jean-Francois Rouland International ICST Conference on Electronic Healthcare for the 21st Century, 2010, Casablanca, Morocco. 2010

Books -

Biomedical Simulation: 5th International Symposium, ISBMS 2010, Phoenix, Az, USA, January 23-24, 2010 Stéphane Cotin, Fernando BelloStéphane Cotin; Fernando Bello. Springer, 5958, pp.193, 2010, Lecture Notes in Computer Science, 3642116140

Journal articles -

Fiber-based Fracture Model for Simulating Soft Tissue Tearing Jérémie Allard, Maud Marchal, Stéphane Cotin Studies in Health Technology and Informatics, IOS Press, 2009, Medicine Meets Virtual Reality 17, 142, pp.13-18. 〈10.3233/978-1-58603-964-6-13〉

Conference papers -

Towards interactive planning of coil embolization in brain aneurysms Jérémie Dequidt, Christian Duriez, Stéphane Cotin, Erwan KerrienYang, G.-Z. and Hawkes, D.J. and Rueckert, D. and Noble, A. and Taylor, C. Medical Image Computing and Computer Assisted Intervention – MICCAI 2009, Sep 2009, London, United Kingdom. Springer Berlin / Heidelberg, 5761, pp.377-385, 2009, Lecture Notes in Computer Science. 〈10.1007/978-3-642-04268-3_47〉

Toward Real-time Simulation of Blood-Coil Interaction during Aneurysm Embolization Yiyi Wei, Stéphane Cotin, Le Fang, Jérémie Allard, Chunhong PanGuang-Zhong Yang and David Hawkes and Daniel Rueckert and Alison Noble and Chris Taylor. MICCAI 2009 – International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2009, London, United Kingdom. Springer, 5761, pp.198-205, 2009, Lecture Notes in Computer Science. 〈10.1007/978-3-642-04268-3_25〉

CT Scan Merging to Enhance Navigation in Interventional Radiology Simulation Pierre-Frédéric Villard, Vincent Luboz, Paul Neumann, Stéphane Cotin, Steve Dawson Medicine Meet Virtual Reality conference 17, Jan 2009, Long Beach, United States. IOS Press, 142, pp.407-412, 2009, 〈http://ebooks.iospress.nl/publication/12058〉〈10.3233/978-1-58603-964-6-407〉

Computer-Based Simulation of IOL Injection: Toward a Full Featured Cataract Surgery Training System Nadia Boubchir, Stephane Cotin, Christian Duriez, Jérémie Dequidt, Jeremie Allard, Jean-Francois Rouland Annual Meeting of the American Academy of Ophthalmology, 2009, San Diego, United States. 2009

Poster communications -

Evaluation of a computer-based simulation for the endovascular treatment of intracranial aneurysms René Anxionnat, Federico Rocca, Serge Bracard, Jérémie Dequidt, Erwan Kerrien, Christian Duriez, Marie-Odile Berger, Stéphane Cotin 10th congress of the World Federation of Interventional and Therapeutic Neuroradiology – WFITN 2009, Jun 2009, Montréal, Canada

Conference papers -

Efficient Contact Modeling using Compliance Warping Guillaume Saupin, Christian Duriez, Stephane Cotin, Laurent Grisoni computer graphics international, 2008, Istambul, Turkey. 2008

Interactive Simulation of Embolization Coils: Modeling and Experimental ValidationJérémie Dequidt, Maud Marchal, Christian Duriez, Erwan Kerrien, Stéphane Cotin Medical Imaging Computing and Computer Assisted Intervention -MICCAI’08, Sep 2008, New York City, United States. Springer, 5241, pp.695-702, 2008, Lecture Notes in Computer Science. 〈10.1007/978-3-540-85988-8_83〉

Book sections -

Towards a framework for assessing deformable models in medical simulation Maud Marchal, Jérémie Allard, Christian Duriez, Stéphane CotinFernando Bello, Philip J. Edwards. ISBMS ’08 – International Symposium on Biomedical Simulation – 2008, 5104, Springer Berlin Heidelberg, pp.176–184, 2008, Lecture Notes in Computer Science, 978-3-540-70521-5. 〈10.1007/978-3-540-70521-5_19〉

Efficient nonlinear FEM for soft tissue modelling and its GPU implementation within the open source framework SOFA Olivier Comas, Zeike A Taylor, Jérémie Allard, Sébastien Ourselin, Stéphane Cotin, Josh PassengerFernando Bello, Philip J. Edwards. ISBMS 2008 – International Symposium on Biomedical Simulation – 2008, 5104, Springer Berlin Heidelberg, pp.28–39, 2008, Lecture Notes in Computer Science, 978-3-540-70521-5. 〈10.1007/978-3-540-70521-5_4〉

Contact model for haptic medical simulations Guillaume Saupin, Christian Duriez, Stephane CotinFernando Bello, Philip J. Edwards. ISBMS 2008 – International Symposium on Biomedical Simulation – 2008, 5104, Springer Berlin Heidelberg, pp.157–165, 2008, Lecture Notes in Computer Science, 978-3-540-70521-5. 〈10.1007/978-3-540-70521-5_17〉

Ability to conduct research -

Computer Based Interactive Medical Simulation  Stéphane CotinModeling and Simulation. Université des Sciences et Technologie de Lille – Lille I, 2008