Hadrien Courtecuisse

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Publications

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Real-time Robotic Needle Insertion In Deformable and Moving Structure Using Learning-by-Example Method

Thuc‐long Ha , Julien Bert , Hadrien Courtecuisse

ICRA 2026 - IEEE International Conference on Robotics and Automation, IEEE, Jun 2026, Vienne, Austria

Communication dans un congrès hal-05498156v2
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High Rate Mechanical Coupling of Interacting Objects in the Context of Needle Insertion Simulation With Haptic Feedback

Claire Martin , Christian Duriez , Hadrien Courtecuisse

International Conference on Intelligent Robots and Systems (IROS 2024), Oct 2024, Abu Dhabi, United Arab Emirates. ⟨10.1109/IROS58592.2024.10801450⟩

Communication dans un congrès hal-04750673v1

Human Robot Collaborative Manipulation of a Deformable Object

Racha Ghaddar , Adrien Koessler , Hadrien Courtecuisse , Mourad Benoussaad , Thibaut Raharijaona

2ème congrès annuel de la SAGIP, Campus Lyon Tech-la Doua; INSA Lyon, avec le soutien de l'Université Claude Bernard Lyon 1; Université Lumière Lyon 2; Ecole Centrale Lyon, May 2024, INSA Lyon, France

Communication dans un congrès hal-04604837v1
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Real-time Robotic Flexible Needle Insertion In Deformable Living Organs Using Isolated Objective Constraint

Thuc Long Ha , Julien Bert , Hadrien Courtecuisse

IEEE RSJ International Conference on Intelligent Robots and Systems - IROS 2024, Oct 2024, Abu Dhabi, United Arab Emirates. pp.10998-11003, ⟨10.1109/IROS58592.2024.10802810⟩

Communication dans un congrès hal-04681176v2
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Towards realistic needle insertion training simulator using partitioned model order reduction

Félix Vanneste , Claire Martin , Olivier Goury , Hadrien Courtecuisse , Erik Pernod et al.

MICCAI 2024 - International Conference on Medical Image Computing and Computer-Assisted Intervention, Oct 2024, Marrakech, Morocco. ⟨10.1007/978-3-031-72089-5_62⟩

Communication dans un congrès hal-04717755v1
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Efficient Needle Insertion Simulation using Hybrid Constraint Solver and Isolated DOFs

Claire Martin , Ziqiu Zeng , Hadrien Courtecuisse

Eurographics 2023 - Short Papers, May 2023, Saarbrücken, Germany. ⟨10.2312/egs.20231003⟩

Communication dans un congrès hal-04181906v1
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FEM-based model for cable-actuated continuum robots

Chiara Cignolini , Benoît Rosa , Hadrien Courtecuisse

12th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS 2023), Sep 2023, Paris, France

Communication dans un congrès hal-04240291v1
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Interactive Finite Element model of needle insertion and laceration

Pedro Henrique Suruagy Perrusi , Paul Baksic , Hadrien Courtecuisse

Eurographics 2021 - The 42nd Annual Conference of the European Association for Computer Graphics, European Association for Computer Graphics, May 2021, Vienne / Virtual, Austria. ⟨10.2312/egs.20211020⟩

Communication dans un congrès hal-03187709v1
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Learning robotic needle steering from inverse finite element simulations

Pedro Henrique Suruagy Perrusi , Anna Cazzaniga , Paul Baksic , Eleonora Tagliabue , Elena de Momi et al.

ICRA 2021 - Workshop on Representing and Manipulating Deformable Objects, May 2021, Xi’an / Virtual, China

Communication dans un congrès hal-03241674v1
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Robotic needle steering in deformable tissues with extreme learning machines

Pedro Henrique Suruagy Perrusi , Anna Cazzaniga , Paul Baksic , Eleonora Tagliabue , Elena de Momi et al.

AUTOMED 2021 - Automation in Medical Engineering, Jun 2021, Basel, Switzerland

Communication dans un congrès hal-03187930v1
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Shared control strategy for needle insertion into deformable tissue using inverse Finite Element simulation

Paul Baksic , Hadrien Courtecuisse , Bernard Bayle

ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi’an / Virtual, China

Communication dans un congrès hal-03191078v1
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Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulation

Paul Baksic , Hadrien Courtecuisse , Christian Duriez , Bernard Bayle

ICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. pp.2407-2413, ⟨10.1109/ICRA40945.2020.9197515⟩

Communication dans un congrès hal-02503574v1
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FEM-based confidence assessment of non-rigid registration

Paul Baksic , Hadrien Courtecuisse , Matthieu Chabanas , Bernard Bayle

Surgetica 2019, 2019, Rennes, France

Communication dans un congrès hal-02238974v1
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Marker-based Registration for Large Deformations -Application to Open Liver Surgery

Yinoussa Adagolodjo , Nicolas Golse , Eric Vibert , Michel de Mathelin , Stéphane Cotin et al.

ICRA 2018 - International Conference on Robotics and Automation, May 2018, Brisbane, Australia

Communication dans un congrès hal-01792837v1
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Resection-induced brain-shift compensation using vessel-based methods

Fanny Morin , Hadrien Courtecuisse , Ingerid Reinertsen , Florian Le Lann , Olivier Palombi et al.

SPIE Medical Imaging 2018, Feb 2018, Houston, TX, United States. pp.105760Q-1 - 105760Q-6, ⟨10.1117/12.2293640⟩

Communication dans un congrès hal-01930274v1
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Real-time Error Control for Surgical Simulation

Huu Phuoc Bui , Satyendra Tomar , Hadrien Courtecuisse , Stéphane Cotin , Stéphane P A Bordas

BIOMECHANICS AND COMPUTER ASSISTED SURGERY MEETS MEDICAL REALITY, Aug 2017, Lille, France

Communication dans un congrès hal-01571194v1
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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

Communication dans un congrès hal-01578815v1
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Intraoperative brain-shift compensation using MR/US elastic registration by means of a constraint-based biomechanical simulation

F. Morin , H Courtecuisse , I Reinertsen , F Le Lann , Olivier Palombi et al.

EUROMECH Colloquium 595: Biomechanics and computer assisted surgery meets medical reality, 2017, Lilles, France

Communication dans un congrès hal-01935285v1
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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

Communication dans un congrès hal-01254388v1
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Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues

Yinoussa Adagolodjo , Laurent Goffin , Michel de Mathelin , Hadrien Courtecuisse

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) , Oct 2016, Daejeon, South Korea

Communication dans un congrès hal-01353925v1

Logiciel pédagogique de simulation pour les fractures fémorales péri-prothétiques

Matthieu Ehlinger , Daniel Baumgartner , Hadrien Courtecuisse

91ème Congrès de la Société Française de Chirurgie Orthopédique et Traumatologique, SOFCOT 2016, Nov 2016, Paris, France

Communication dans un congrès hal-04832710v1
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Vessel-based brain-shift compensation using elastic registration driven by a patient-specific finite element model

Fanny Morin , Ingerid Reinertsen , Hadrien Courtecuisse , Olivier Palombi , Bodil Munkvold et al.

International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Jun 2016, Heidelberg, Germany

Communication dans un congrès hal-01331713v1

Virtual Cutting of Deformable Objects based on Efficient Topological Operations

Christoph Paulus , Lionel Untereiner , Hadrien Courtecuisse , Stéphane Cotin , David Cazier

Computer Graphics International, Jun 2015, Strasbourg, France

Communication dans un congrès hal-01208546v1
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Haptic Rendering of Hyperelastic Models with Friction

Hadrien Courtecuisse , Yinoussa Adagolodjo , Hervé Delingette , Christian Duriez , Yinoussa Adagolodjo

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany. pp.591-596, ⟨10.1109/IROS.2015.7353432⟩

Communication dans un congrès hal-01184113v1

Logiciel de simulation de chirurgie mini invasive par PV : étude préliminaire

M. Ehlinger , D. Baumgartner , H. Courtecuisse

Congrès Annuel de l'Association Internationale d'Osteosynthèse Dynamique, 2015, Marseille, France

Communication dans un congrès hal-05489129v1

Haptic Rendering on Deformable Anatomical Tissues with Strong Heterogeneities

Guillaume Kazmitcheff , Hadrien Courtecuisse , Yann Nguyen , Mathieu Miroir , Alexis Bozorg-Grayeli et al.

Eurohaptics 2014, Jun 2014, Versailles, France

Communication dans un congrès hal-01025614v1
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Atlas-based Transfer of Boundary Conditions for Biomechanical Simulation

Rosalie Plantefeve , Igor Peterlik , Hadrien Courtecuisse , Raffaella Trivisonne , Jean-Pierre Radoux et al.

MICCAI - 17th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2014, Boston, United States

Communication dans un congrès hal-01070339v1
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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

Communication dans un congrès hal-01160739v1
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Model-Based Identification of Anatomical Boundary Conditions in Living Tissues

Igor Peterlik , Hadrien Courtecuisse , Christian Duriez , Stéphane Cotin

IPCAI 2014 - 5th International Conference on Information Processing in Computer Assisted Interventions, Jun 2014, Fukuoka, Japan. ⟨10.1007/978-3-319-07521-1_21⟩

Communication dans un congrès hal-01264434v1
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Towards Real-Time Computation of Cardiac Electrophysiology for Training Simulator

Hugo Talbot , Christian Duriez , Hadrien Courtecuisse , Jatin Relan , Maxime Sermesant et al.

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

Communication dans un congrès hal-00750835v1
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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 et al.

VPH 2012, Sep 2012, Londres, United Kingdom

Communication dans un congrès hal-00751537v1
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Preconditioner-Based Contact Response and Application to Cataract Surgery

Hadrien Courtecuisse , Jérémie Allard , Christian Duriez , Stéphane Cotin

MICCAI - 14th International Conference on Medical Image Computing and Computer Assisted Intervention - 2011, Sep 2011, Toronto, Canada. pp.315-322, ⟨10.1007/978-3-642-23623-5_40⟩

Communication dans un congrès hal-00685593v1
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Implicit FEM and Fluid Coupling on GPU for Interactive Multiphysics Simulation

Jérémie Allard , Hadrien Courtecuisse , François Faure

SIGGRAPH Talks, Aug 2011, Vancouver, Canada. pp.Article No. 52, ⟨10.1145/2037826.2037895⟩

Communication dans un congrès inria-00589203v2
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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. pp.59-68, ⟨10.2312/PE/vriphys/vriphys10/059-068⟩

Communication dans un congrès hal-00688865v1

Parallel dense gauss-seidel algorithm on many-core processors

Hadrien Courtecuisse , Jérémie Allard

HPCC'09 - 11th IEEE International Conference on High Performance Computing and Communications - 2009, Jun 2009, Seoul, South Korea. pp.139--147, ⟨10.1109/HPCC.2009.51⟩

Communication dans un congrès hal-00841571v1
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Contact Skinning

Christian Duriez , Hadrien Courtecuisse , Juan-Pablo de La Plata Alcalde , Pierre-Jean Bensoussan

Eurographics 2008 - Short Papers, Jun 2008, hersonissos, Greece

Communication dans un congrès hal-02149231v1
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Dynamic cutting simulation using elastic snapping for mesh quality optimization

Z. Zeng , H. Courtecuisse

Computer Graphics Forum, 2025, ⟨10.1111/cgf.70005⟩

Article dans une revue hal-05186904v1
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Toward fluoroscopy guided robotic needle insertion for radio frequency ablation

Thuc‐long Ha , Juan Verde , Julien Bert , Hadrien Courtecuisse

Computer Animation and Virtual Worlds, 2025, 36 (3), pp.e70025. ⟨10.1002/cav.70025⟩

Article dans une revue hal-05074680v1
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Real‐Time FE Simulation for Large‐Scale Problems Using Precondition‐Based Contact Resolution and Isolated DOFs Constraints

Ziqiu Zeng , Stéphane Cotin , Hadrien Courtecuisse

Computer Graphics Forum, 2022, 41 (6), pp.418-434. ⟨10.1111/cgf.14563⟩

Article dans une revue hal-03694167v1
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Three‐dimensional physics‐based registration of pelvic system using 2D dynamic magnetic resonance imaging slices

Hadrien Courtecuisse , Zhifan Jiang , Olivier Mayeur , Jean-Francois Witz , Pauline Lecomte-Grosbras et al.

Strain, 2020, 56 (3), ⟨10.1111/str.12339⟩

Article dans une revue hal-02873023v1
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Robotic Insertion of Flexible Needle in Deformable Structures Using Inverse Finite-Element Simulation

Yinoussa Adagolodjo , Laurent Goffin , Michel de Mathelin , Hadrien Courtecuisse

IEEE Transactions on Robotics, 2019, 35 (3), pp.697-708. ⟨10.1109/TRO.2019.2897858⟩

Article dans une revue hal-02144487v1
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Fast Elastic Registration of Soft Tissues under Large Deformations

Igor Peterlik , Hadrien Courtecuisse , Robert Rohling , Purang Abolmaesumi , Christopher Nguan et al.

Medical Image Analysis, 2018, 45, pp.24-40. ⟨10.1016/j.media.2017.12.006⟩

Article dans une revue hal-01613757v1
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Calipso: Physics-based Image and Video Editing through CAD Model Proxies

Nazim Haouchine , Frédérick Roy , Hadrien Courtecuisse , Matthias Niessner , Stéphane Cotin

The Visual Computer, 2018, 36, pp.211-226. ⟨10.1007/s00371-018-1600-0⟩

Article dans une revue hal-01890684v2
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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 et al.

International Journal for Numerical Methods in Biomedical Engineering, 2017, pp.1-26. ⟨10.1002/cnm.2958⟩

Article dans une revue hal-01672962v1
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Brain-shift compensation using intraoperative ultrasound and constraint-based biomechanical simulation

Fanny Morin , Hadrien Courtecuisse , Ingerid Reinertsen , Florian Le Lann , Olivier Palombi et al.

Medical Image Analysis, 2017, 40, pp.133 - 153. ⟨10.1016/j.media.2017.06.003⟩

Article dans une revue hal-01560157v1
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Real-time Error Control for Surgical Simulation

Huu Phuoc Bui , Satyendra Tomar , Hadrien Courtecuisse , Stéphane Cotin , Stéphane Bordas

IEEE Transactions on Biomedical Engineering, 2017, 95 (3), pp.596-607. ⟨10.1109/TBME.2017.2695587⟩

Article dans une revue hal-01514621v1
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Virtual Cutting of Deformable Objects based on Efficient Topological Operations

Christoph Paulus , Lionel Untereiner , Hadrien Courtecuisse , Stephane Cotin , David Cazier

The Visual Computer, 2015, 31 (6-8), pp.831-841. ⟨10.1007/s00371-015-1123-x⟩

Article dans une revue hal-01162099v1
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Rest shape computation for highly deformable model of brain.

Fanny Morin , Hadrien Courtecuisse , Matthieu Chabanas , Yohan Payan

Computer Methods in Biomechanics and Biomedical Engineering, 2015, 18 Suppl 1, pp.2006-2007. ⟨10.1080/10255842.2015.1070591⟩

Article dans une revue hal-01217673v1
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Real-time simulation of contact and cutting of heterogeneous soft-tissues

Hadrien Courtecuisse , Jeremie Allard , Pierre Kerfriden , Stephane Pierre-Alain Bordas , Stephane Cotin et al.

Medical Image Analysis, 2014, 18 (2), pp.394-410. ⟨10.1016/j.media.2013.11.001⟩

Article dans une revue hal-01097108v1
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Computer-based training system for cataract surgery

Jérémie Dequidt , Hadrien Courtecuisse , Olivier Comas , Jérémie Allard , Christian Duriez et al.

SIMULATION: Transactions of The Society for Modeling and Simulation International, 2013, ⟨10.1177/0037549713495753⟩

Article dans une revue hal-00855821v1
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GPU-based Real-Time Soft Tissue Deformation with Cutting and Haptic Feedback

Hadrien Courtecuisse , Hoeryong Jung , Jérémie Allard , Christian Duriez , Doo Yong Lee et al.

Progress in Biophysics and Molecular Biology, 2010, Special Issue on Biomechanical Modelling of Soft Tissue Motion, 103 (2-3), pp.159-168. ⟨10.1016/j.pbiomolbio.2010.09.016⟩

Article dans une revue hal-00686056v1
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Volume Contact Constraints at Arbitrary Resolution

Jérémie Allard , François Faure , Hadrien Courtecuisse , Florent Falipou , Christian Duriez et al.

ACM Transactions on Graphics, 2010, Proceedings of SIGGRAPH 2010, 29 (3), pp.Article No. 82. ⟨10.1145/1778765.1778819⟩

Article dans une revue inria-00502446v2
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Augmented reality biomechanical simulations for pelvic conditions diagnoses

Hadrien Courtecuisse , Jérémie Dequidt

Biomechanics of the Female Reproductive System: Breast and Pelvic Organs, Elsevier, 2023, ⟨10.1016/C2020-0-00113-1⟩

Chapitre d'ouvrage hal-04293760v1
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Computational Biomechanics of the Brain in the Operating Theatre

Hadrien Courtecuisse , Fanny Morin , Ingerid Reinertsen , Yohan Payan , Matthieu Chabanas

Biomechanics of the Brain, Springer, pp.321-344, 2019, 978-3-030-04995-9. ⟨10.1007/978-3-030-04996-6_13⟩

Chapitre d'ouvrage hal-02385041v1
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Biomechanical modeling of brain soft tissues for medical applications

Fanny Morin , Matthieu Chabanas , Hadrien Courtecuisse , Yohan Payan

Payan, Yohan; Ohayon, Jacques. Biomechanics of Living Organs, Academic Press, pp.127-146, 2017, ⟨10.1016/B978-0-12-804009-6.00006-7⟩

Chapitre d'ouvrage hal-01560109v1
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SOFA: A Multi-Model Framework for Interactive Physical Simulation

François Faure , Christian Duriez , Hervé Delingette , Jérémie Allard , Benjamin Gilles et al.

Yohan 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⟩

Chapitre d'ouvrage hal-00681539v1

Implicit FEM Solver on GPU for Interactive Deformation Simulation

Jérémie Allard , Hadrien Courtecuisse , François Faure

Wen-mei W. Hwu. GPU Computing Gems Jade Edition, Elsevier, pp.281-294, 2011, Applications of GPU Computing Series, 9780123859631. ⟨10.1016/B978-0-12-385963-1.00021-6⟩

Chapitre d'ouvrage inria-00589200v1

Periprosthetic femoral fracture simulation software for minimally invasive surgery

Matthieu Ehlinger , Hadrien Courtecuisse , Henri Fravreau , Adrien d'Ambrosio , Philippe Adam et al.

18th Congress of the European Federation of National Associations of Orthopaedics and Traumatology (EFORT), Vienne, Autriche, du 31 Mai au 02 Juin 2017, 2017, Vienna, Austria. 2017

Poster de conférence hal-03955275v1

Simulation software for periprosthetic femoral fracture

Matthieu Ehlinger , Hadrien Courtecuisse , Philippe Adam , Francois Bonnomet , Daniel Baumgartner

38th Orthopaedic World Congress of the International Society of Orthopaedic Surgery and Traumatology, Cape Town, South Africa, 30 nov.-2dec. 2017, 2017, Cape Town, South Africa. 2017

Poster de conférence hal-03957004v1
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Domain Decomposition for real time Simulation of needle insertion

Yinoussa Adagolodjo , Hadrien Courtecuisse , Raffaella Trivisonne , Laurent Goffin , Stephane Pierre-Alain Bordas et al.

DD23, Jul 2015, Jeju, South Korea

Poster de conférence hal-01229514v1
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Nouvelles architectures parallèles pour simulations interactives médicales

Hadrien Courtecuisse

Calcul parallèle, distribué et partagé [cs.DC]. Université des Sciences et Technologie de Lille - Lille I, 2011. Français. ⟨NNT : ⟩

Thèse tel-00772312v1