Computational Models for Image Guided, Robot-Assisted and Simulated Medical Interventions

Hervé Delingette (1) , Xavier Pennec (1) , Luc Soler (2) , Jacques Marescaux (2) , Nicholas Ayache (1)

1 ASCLEPIOS - Analysis and Simulation of Biomedical Images
2 IRCAD/EITS - Institut de Recherche Contre les Cancers de l'Appareil Digestif-European Institute of Telesurgery

Medical Image Analysis plays a crucial role in the diagnosis, planning, control and follow-up of therapy. To be combined efficiently with medical robotics, Medical Image Analysis can be supported by the development of specific computational models of the human body operating at various levels. We describe in this article a hierarchy of these computational models, including the geometrical, physical and physiological levels, and illustrate their potential use in a number of advanced medical applications including image guided, robot-assisted and simulated medical interventions. We conclude this article with scientific perspectives.

Mots clés: Computational Models; Medical Robotics; Medical Image Analysis; Anatomical Models; Biomechanics; Physiological Models; Brain-shift; Augmented Reality; surgery simulation

Domaines: Imagerie médicale; Modélisation et simulation; Imagerie; Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Hervé Delingette, Xavier Pennec, Luc Soler, Jacques Marescaux, Nicholas Ayache. Computational Models for Image Guided, Robot-Assisted and Simulated Medical Interventions. Proceedings of the IEEE, 2006, 94 (9), pp.1678- 1688. ⟨10.1109/JPROC.2006.880718⟩. ⟨inria-00615001⟩