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In this paper, we present a method to localize and track manually inserted needles in real-time using a three-dimensional ultrasound probe mounted on a robotized arm. The system tracks the needle using online image processing. We first propose a new algorithm capable of robustly detecting a needle from the moment it is inserted, without any a priori(More)
Many applications in biomedical engineering and surgical simulators require effective modeling methods for dynamic interactive simulations. Due to its high computation time, the standard Finite Element Method (FEM) cannot be used in such cases. A FEM-based method is first presented, which rely on the decomposition of the deformation of each element into a(More)
The Walking-In-Place interaction technique was introduced to navigate infinitely in 3D virtual worlds by walking in place in the real world. The technique has been initially developed for users standing in immersive setups and was built upon sophisticated visual displays and tracking equipments. In this paper, we propose to revisit the whole pipeline of(More)
We often interact with fluids in our daily life, either through tools such as when holding a glass of water or directly with our body when we swim or we wash our hands. Multimodal interactions with virtual fluids would greatly improve the simulations realism, particularly through haptic interaction. However, achieving realistic, stable, and real-time force(More)
Virtual walking, a fundamental task in Virtual Reality (VR), is greatly influenced by the locomotion interface being used, by the specificities of input and output devices, and by the way the virtual environment is represented. No matter how virtual walking is controlled, the generation of realistic virtual trajectories is absolutely required for some(More)
In this work, needle-tissue interaction forces are modeled by a three parameter force distribution composed of two step functions with variable amplitudes and spacing. A finite element based simulation is used to adjust the parameters and fit the simulation results to the experimental data. In experiments, needle displacements and needle base forces were(More)
Coil embolization offers a new approach to treat aneurysms. This medical procedure is namely less invasive than an open-surgery as it relies on the deployment of very thin platinum-based wires within the aneurysm through the arteries. When performed intracranially, this procedure must be particularly accurate and therefore carefully planned and performed by(More)
This paper presents a new modeling method for the insertion of needles and more generally thin and flexible medical devices into soft tissues. Several medical procedures rely on the insertion of slender medical devices such as biopsy, brachytherapy, deep-brain stimulation. In this paper, the interactions between soft tissues and flexible instruments are(More)
Needle insertion simulators find use in a number of medical interventions, such as prostate brachytherapy. A needle insertion simulator has three main components: the needle model, the tissue model, and the model of interaction between the needle and the tissue. In this paper, a new methodology is introduced for the joint modeling of tissue and(More)