In order to increase the control accuracy of soft robots, we have worked on servoing where IR cameras track the deformation of a soft robot and this visual feedback is used by our digital model. Even on dynamic scenarios, precision and accuracy are increased even when visual feedback is temporarily lost.
Augmented Reality of Soft Objects
We have proposed some methods for real-time augmented reality of internal liver structures during minimally invasive hepatic surgery. Vessels and tumors computed from pre-operative CT scans can be overlaid onto the laparoscopic view for surgery guidance.
Interventional Radiology Simulator
We have worked on the simulation of interventional radiology procedures. The simulation relies on an accurate reconstruction of the patient anatomy and a real-time model of the surgical devices (catheter, guide-wire, coil...) for which sliding and friction contacts are taken into account.
Cataract Surgery Training Simulator
We have developed a simulation framework in order to perform interactive cataract surgery simulations. Combination of a high-fidelity simulation (advanced bio-mechanical models and intensive use of modern graphics hardware) and replicas of actual surgical tools are able to improve surgeon immersion while training.
Geometrical and Implicit Modeling
Both the segmentation and reconstruction of the vasculature from 3D Rotational Angiography data have been addressed, and adapted to simulation with a tracking algorithm to segment the vessel tree then with an automatic procedure to reconstruct a skeleton-based implicit surface.
Soft-Robot Design
We work on an unified software framework dedicated to modeling, simulation, and control of soft robots. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators and contacts using a unified representation based on Lagrange multipliers.
