Journal articles
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- Dynamic cutting simulation using elastic snapping for mesh quality optimization
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- Z. Zeng, H. Courtecuisse
- article
- Computer Graphics Forum, 2025, ⟨10.1111/cgf.70005⟩
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- In this manuscript, we present a novel cutting method that involves using a vertex‐snapping strate .....
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- Toward fluoroscopy guided robotic needle insertion for radio frequency ablation
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- Thuc‐long Ha, Juan Verde, Julien Bert, Hadrien Courtecuisse
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- Computer Animation and Virtual Worlds, 2025, 36 (3), pp.e70025. ⟨10.1002/cav.70025⟩
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- This article presents a fluoroscopy image‐based registration method along with a comprehensive pro .....
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- Real‐Time FE Simulation for Large‐Scale Problems Using Precondition‐Based Contact Resolution and Isolated DOFs Constraints
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- Ziqiu Zeng, Stéphane Cotin, Hadrien Courtecuisse
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- Computer Graphics Forum, 2022, 41 (6), pp.418-434. ⟨10.1111/cgf.14563⟩
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- This paper presents a fast method to compute large-scale problems in real-time finite element simula .....
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- titre
- Three‐dimensional physics‐based registration of pelvic system using 2D dynamic magnetic resonance imaging slices
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- Hadrien Courtecuisse, Zhifan Jiang, Olivier Mayeur, Jean-Francois Witz, Pauline Lecomte-Grosbras, Michel Cosson, Mathias Brieu, Stéphane Cotin
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- Strain, 2020, 56 (3), ⟨10.1111/str.12339⟩
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- This paper introduces a method for dynamic 3D registration of female pelvic organs using 2D dynamic .....
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- titre
- Calipso: Physics-based Image and Video Editing through CAD Model Proxies
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- Nazim Haouchine, Frédérick Roy, Hadrien Courtecuisse, Matthias Niessner, Stéphane Cotin
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- The Visual Computer, 2018, 36, pp.211-226. ⟨10.1007/s00371-018-1600-0⟩
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- We present Calipso, an interactive method for editing images and videos in a physically-coherent man .....
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- titre
- Fast Elastic Registration of Soft Tissues under Large Deformations
- auteur
- Igor Peterlik, Hadrien Courtecuisse, Robert Rohling, Purang Abolmaesumi, Christopher Nguan, Stéphane Cotin, Septimiu E Salcudean
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- Medical Image Analysis, 2018, 45, pp.24-40. ⟨10.1016/j.media.2017.12.006⟩
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- A fast and accurate fusion of intra-operative images with a pre-operative data is a key component of .....
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- titre
- Controlling the error on target motion through real-time mesh adaptation: applications to Deep Brain Stimulation
- auteur
- Huu Phuoc Bui, Satyendra Tomar, Hadrien Courtecuisse, Michel Audette, Stéphane Cotin, Stéphane P A Bordas
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- International Journal for Numerical Methods in Biomedical Engineering, 2017, pp.1-26. ⟨10.1002/cnm.2958⟩
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- An error-controlled mesh refinement procedure for needle insertion simulations is presented. As an e .....
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- Real-time Error Control for Surgical Simulation
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- Huu Phuoc Bui, Satyendra Tomar, Hadrien Courtecuisse, Stéphane Cotin, Stéphane Bordas
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- IEEE Transactions on Biomedical Engineering, 2017, 95 (3), pp.596-607. ⟨10.1109/TBME.2017.2695587⟩
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- Objective: To present the first real-time a poste-riori error-driven adaptive finite element approac .....
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- Brain-shift compensation using intraoperative ultrasound and constraint-based biomechanical simulation
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- Fanny Morin, Hadrien Courtecuisse, Ingerid Reinertsen, Florian Le Lann, Olivier Palombi, Yohan Payan, Matthieu Chabanas
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- Medical Image Analysis, 2017, 40, pp.133 - 153. ⟨10.1016/j.media.2017.06.003⟩
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- Purpose. During brain tumor surgery, planning and guidance are based on pre-operative images which d .....
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- Virtual Cutting of Deformable Objects based on Efficient Topological Operations
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- Christoph Paulus, Lionel Untereiner, Hadrien Courtecuisse, Stephane Cotin, David Cazier
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- The Visual Computer, 2015, 31 (6-8), pp.831-841. ⟨10.1007/s00371-015-1123-x⟩
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- Virtual cutting of deformable objects is at the core of many applications in interactive simulation .....
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Conference papers
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- titre
- Real-time Robotic Needle Insertion In Deformable and Moving Structure Using Learning-by-Example Method
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- Thuc‐long Ha, Julien Bert, Hadrien Courtecuisse
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- ICRA 2026 - IEEE International Conference on Robotics and Automation, IEEE, Jun 2026, Vienne, Austria
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- This paper presents an innovative and practical method for robotic needle steering in radio-frequenc .....
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- Virtual Reality Training Simulator for Percutaneous Needle-Based Interventions with Haptic Feedback
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- Noah Bertholon, Claire Martin, Erik Pernod, Hadrien Courtecuisse
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- 2026 Annual Modeling and Simulation Conference (ANNSIM’26), May 2026, Orlando (FL), United States
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- This paper proposes a comprehensive virtual reality (VR) training simulator for needle-based interve .....
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- titre
- Real-time Robotic Flexible Needle Insertion In Deformable Living Organs Using Isolated Objective Constraint
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- Thuc Long Ha, Julien Bert, Hadrien Courtecuisse
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- 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⟩
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This paper presents an innovative approach for executing robotic needle insertion within def .....
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- titre
- High Rate Mechanical Coupling of Interacting Objects in the Context of Needle Insertion Simulation With Haptic Feedback
- auteur
- Claire Martin, Christian Duriez, Hadrien Courtecuisse
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- International Conference on Intelligent Robots and Systems (IROS 2024), Oct 2024, Abu Dhabi, United Arab Emirates. ⟨10.1109/IROS58592.2024.10801450⟩
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- Needle-based procedures such as biopsies or radio-frequency ablation (RFA) of tumors are often consi .....
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- titre
- Towards realistic needle insertion training simulator using partitioned model order reduction
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- Félix Vanneste, Claire Martin, Olivier Goury, Hadrien Courtecuisse, Erik Pernod, Stéphane Cotin, Christian Duriez
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- MICCAI 2024 - International Conference on Medical Image Computing and Computer-Assisted Intervention, Oct 2024, Marrakech, Morocco. ⟨10.1007/978-3-031-72089-5_62⟩
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- Needle-based intervention is part of minimally invasive surgery and has the benefit of allowing the .....
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- titre
- Human Robot Collaborative Manipulation of a Deformable Object
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- Racha Ghaddar, Adrien Koessler, Hadrien Courtecuisse, Mourad Benoussaad, Thibaut Raharijaona
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- 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, Lyon, France
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Industrial robots lack the intelligence, flexibility, and capability to operate robustly and repl .....
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- FEM-based model for cable-actuated continuum robots
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- Chiara Cignolini, Benoît Rosa, Hadrien Courtecuisse
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- 12th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS 2023), Sep 2023, Paris, France
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- titre
- Efficient Needle Insertion Simulation using Hybrid Constraint Solver and Isolated DOFs
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- Claire Martin, Ziqiu Zeng, Hadrien Courtecuisse
- article
- Eurographics 2023 - Short Papers, May 2023, Saarbrücken, Germany. ⟨10.2312/egs.20231003⟩
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- This paper introduces a real-time compatible method to improve the location of constraints between a .....
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- titre
- Robotic needle steering in deformable tissues with extreme learning machines
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- Pedro Henrique Suruagy Perrusi, Anna Cazzaniga, Paul Baksic, Eleonora Tagliabue, Elena de Momi, Hadrien Courtecuisse
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- AUTOMED 2021 - Automation in Medical Engineering, Jun 2021, Basel, Switzerland
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- Control strategies for robotic needle steering in soft tissues must account for complex interactions .....
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- titre
- Learning robotic needle steering from inverse finite element simulations
- auteur
- Pedro Henrique Suruagy Perrusi, Anna Cazzaniga, Paul Baksic, Eleonora Tagliabue, Elena de Momi, Hadrien Courtecuisse
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- ICRA 2021 - Workshop on Representing and Manipulating Deformable Objects, May 2021, Xi’an / Virtual, China
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- Tissue motion compensation during robotic needle steering is a challenging research topic. While the .....
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- titre
- Interactive Finite Element model of needle insertion and laceration
- auteur
- Pedro Henrique Suruagy Perrusi, Paul Baksic, Hadrien Courtecuisse
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- 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⟩
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- This paper introduces an interactive model of needle insertion, including the possibility to simulat .....
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- titre
- FEM-based confidence assessment of non-rigid registration
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- Paul Baksic, Hadrien Courtecuisse, Matthieu Chabanas, Bernard Bayle
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- Surgetica 2019, 2019, Rennes, France
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- Non-rigid registration is often used for 3D representations during surgical procedures. It needs to .....
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- Marker-based Registration for Large Deformations -Application to Open Liver Surgery
- auteur
- Yinoussa Adagolodjo, Nicolas Golse, Eric Vibert, Michel de Mathelin, Stéphane Cotin, Hadrien Courtecuisse, Yinoussa Adagolodjo
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- ICRA 2018 - International Conference on Robotics and Automation, May 2018, Brisbane, Australia
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- This paper introduces an Augmented Reality (AR) system for open liver surgery. Although open surgery .....
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- titre
- Resection-induced brain-shift compensation using vessel-based methods
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- Fanny Morin, Hadrien Courtecuisse, Ingerid Reinertsen, Florian Le Lann, Olivier Palombi, Yohan Payan, Matthieu Chabanas
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- SPIE Medical Imaging 2018, Feb 2018, Houston, TX, United States. pp.105760Q-1 - 105760Q-6, ⟨10.1117/12.2293640⟩
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- Most brain-shift compensation methods address the problem of updating preoperative images to reflect .....
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- titre
- Silhouette-based Pose Estimation for Deformable Organs Application to Surgical Augmented Reality
- auteur
- Yinoussa Adagolodjo, Raffaella Trivisonne, Nazim Haouchine, Stéphane Cotin, Hadrien Courtecuisse
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- IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada
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- — In this paper we introduce a method for semi-automatic registration of 3D deformable models usin .....
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- titre
- Real-time Error Control for Surgical Simulation
- auteur
- Huu Phuoc Bui, Satyendra Tomar, Hadrien Courtecuisse, Stéphane Cotin, Stéphane P A Bordas
- article
- BIOMECHANICS AND COMPUTER ASSISTED SURGERY MEETS MEDICAL REALITY, Aug 2017, Lille, France
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- Real-time simulations are becoming increasingly common for various applications, from geometric desi .....
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- titre
- Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues
- auteur
- Yinoussa Adagolodjo, Laurent Goffin, Michel de Mathelin, Hadrien Courtecuisse
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- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) , Oct 2016, Daejeon, South Korea
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- This paper introduces a new method for automatic robotic needle steering in deformable tissues. The .....
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- titre
- Vessel-based brain-shift compensation using elastic registration driven by a patient-specific finite element model
- auteur
- Fanny Morin, Ingerid Reinertsen, Hadrien Courtecuisse, Olivier Palombi, Bodil Munkvold, Hans Kristian Bø, Yohan Payan, Matthieu Chabanas
- article
- International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Jun 2016, Heidelberg, Germany
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- During brain tumor surgery, planning and guidance are based on pre-operative images which do not acc .....
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- titre
- 3D Physics-Based Registration of 2D Dynamic MRI Data
- auteur
- Raffaella Trivisonne, Igor Peterlik, Stéphane Cotin, Hadrien Courtecuisse
- article
- MMVR - Medicine Meets Virtual Reality, Apr 2016, Los Angeles, United States
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- We present a method allowing for intra-operative targeting of a specific anatomical feature. The met .....
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- titre
- Virtual Cutting of Deformable Objects based on Efficient Topological Operations
- auteur
- Christoph Paulus, Lionel Untereiner, Hadrien Courtecuisse, Stéphane Cotin, David Cazier
- article
- Computer Graphics International, Jun 2015, Strasbourg, France
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- Virtual cutting of deformable objects is at the core of many applications in interactive simulation .....
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Book sections
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- titre
- Augmented reality biomechanical simulations for pelvic conditions diagnoses
- auteur
- Hadrien Courtecuisse, Jérémie Dequidt
- article
- Biomechanics of the Female Reproductive System: Breast and Pelvic Organs, Elsevier, 2023, ⟨10.1016/C2020-0-00113-1⟩
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Habilitation à diriger des recherches
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- titre
- Real-time Finite Element simulations for surgical assistance - applications to training, augmented reality and robotic control
- auteur
- Hadrien Courtecuisse
- article
- Medical Imaging. Université de strasbourg, 2021
- Resume_court
- The end of the 1980s marked a turning point since which Minimally Invasive Surgery (MIS) has been pr .....
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Software
- titre
- SOFA
- auteur
- François Faure, Christian Duriez, Jérémie Allard, Stéphane Cotin, Hervé Delingette, Bilger Alexandre, Benjamin Gilles, Adagolodgo Yinoussa, Bensoussan Pierre-Jean, Nesme Matthieu, Pernod Erik, Frédérick Roy, Jourdes Francois, Marchal Damien, Igor Peterlik, Brunet Jean-Nicolas, Hadrien Courtecuisse, Scheikl Paul Maria, Bousquet Guillaume, Coevoet Eulalie, Dequidt Jeremie, Falipou Florent, Hermann Everton, Alcalde Juan Pablo de la Plata, Testylier Romain, Tournier Maxime, Vanneste Felix
- article
- 2006, ⟨swh:1:cnt:3de90b67ca1dd6e12c9fc326bb7037cb9b4bdf7c;origin=https://github.com/sofa-framework/sofa;visit=swh:1:snp:3fe570d6f99f87bb576ba7b86134990305f7aee1;anchor=swh:1:rev:aedc7ffea53e1a1b406b5e1c32b344cf53d9dbd1;path=/Authors.txt⟩
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- SOFA is an open-source framework for interactive physics simulation, with emphasis on biomechanical .....
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Preprints, Working Papers, ...
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- titre
- An efficient implicit constraint resolution scheme for interactive FE simulations
- auteur
- Ziqiu Zeng, Hadrien Courtecuisse
- article
- 2023
- Resume_court
- This paper presents a novel implicit scheme for the constraint resolution in real-time finite elemen .....
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- titre
- Efficient parallelization strategy for real-time FE simulations
- auteur
- Ziqiu Zeng, Hadrien Courtecuisse
- article
- 2023
- Resume_court
- This paper introduces an efficient and generic framework for finite-element simulations under an imp .....
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