<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-00195034</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-24T05:22:05+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Towards a realistic echographic simulator.</title>
            <author role="aut">
              <persName>
                <forename type="first">D.</forename>
                <surname>d'Aulignac</surname>
              </persName>
              <idno type="halauthorid">248565-0</idno>
              <affiliation ref="#struct-2395"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">C.</forename>
                <surname>Laugier</surname>
              </persName>
              <idno type="halauthorid">145623-0</idno>
              <affiliation ref="#struct-2395"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jocelyne</forename>
                <surname>Troccaz</surname>
              </persName>
              <email type="md5">59213c8bff5e4089ab88c0f88732aef3</email>
              <email type="domain">univ-grenoble-alpes.fr</email>
              <idno type="idhal" notation="string">jocelyne-troccaz</idno>
              <idno type="idhal" notation="numeric">763</idno>
              <idno type="halauthorid" notation="string">25175-763</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-5921-9419</idno>
              <idno type="IDREF">https://www.idref.fr/031497977</idno>
              <affiliation ref="#struct-388249"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">S.</forename>
                <surname>Vieira</surname>
              </persName>
              <idno type="halauthorid">66972-0</idno>
              <affiliation ref="#struct-2395"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Jocelyne</forename>
                <surname>Troccaz</surname>
              </persName>
              <email type="md5">59213c8bff5e4089ab88c0f88732aef3</email>
              <email type="domain">univ-grenoble-alpes.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2007-12-08 17:53:45</date>
              <date type="whenModified">2025-09-27 19:55:53</date>
              <date type="whenReleased">2007-12-08 17:53:45</date>
              <date type="whenProduced">2006-02</date>
              <ref type="externalLink" target="https://api.istex.fr/ark:/67375/6H6-GFLTPB7S-7/fulltext.pdf?sid=hal"/>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="111277">
                <persName>
                  <forename>Jocelyne</forename>
                  <surname>Troccaz</surname>
                </persName>
                <email type="md5">59213c8bff5e4089ab88c0f88732aef3</email>
                <email type="domain">univ-grenoble-alpes.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-00195034</idno>
            <idno type="halUri">https://hal.science/hal-00195034</idno>
            <idno type="halBibtex">daulignac:hal-00195034</idno>
            <idno type="halRefHtml">&lt;i&gt;Medical Image Analysis&lt;/i&gt;, 2006, 10 (1), pp.71-81. &lt;a target="_blank" href="https://dx.doi.org/10.1016/j.media.2005.02.001"&gt;&amp;#x27E8;10.1016/j.media.2005.02.001&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Medical Image Analysis, 2006, 10 (1), pp.71-81. &amp;#x27E8;10.1016/j.media.2005.02.001&amp;#x27E9;</idno>
            <availability status="restricted"/>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UGA">HAL Grenoble Alpes</idno>
            <idno type="stamp" n="IMAG">IMAG</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="UNIV-GRENOBLE1">Université Joseph Fourier - Grenoble I</idno>
            <idno type="stamp" n="INPG">Institut polytechnique de Grenoble</idno>
            <idno type="stamp" n="INRIA-RHA">INRIA Grenoble - Rhône-Alpes</idno>
            <idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="TESTALAIN1">TESTALAIN1</idno>
            <idno type="stamp" n="TIMC-IMAG">TIMC</idno>
            <idno type="stamp" n="TIMC-IMAG-GMCAO" corresp="TIMC-IMAG">GMCAO : Geste Médico-Chirurgicaux Assistés par Ordinateur</idno>
            <idno type="stamp" n="INRIA2">INRIA 2</idno>
            <idno type="stamp" n="INRIA-RENGRE">INRIA-RENGRE</idno>
            <idno type="stamp" n="UNIV-LYON">Université de Lyon</idno>
            <idno type="stamp" n="TEST-UGA">TEST-UGA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Towards a realistic echographic simulator.</title>
                <author role="aut">
                  <persName>
                    <forename type="first">D.</forename>
                    <surname>d'Aulignac</surname>
                  </persName>
                  <idno type="halauthorid">248565-0</idno>
                  <affiliation ref="#struct-2395"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">C.</forename>
                    <surname>Laugier</surname>
                  </persName>
                  <idno type="halauthorid">145623-0</idno>
                  <affiliation ref="#struct-2395"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jocelyne</forename>
                    <surname>Troccaz</surname>
                  </persName>
                  <email type="md5">59213c8bff5e4089ab88c0f88732aef3</email>
                  <email type="domain">univ-grenoble-alpes.fr</email>
                  <idno type="idhal" notation="string">jocelyne-troccaz</idno>
                  <idno type="idhal" notation="numeric">763</idno>
                  <idno type="halauthorid" notation="string">25175-763</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-5921-9419</idno>
                  <idno type="IDREF">https://www.idref.fr/031497977</idno>
                  <affiliation ref="#struct-388249"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">S.</forename>
                    <surname>Vieira</surname>
                  </persName>
                  <idno type="halauthorid">66972-0</idno>
                  <affiliation ref="#struct-2395"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">16987</idno>
                <idno type="issn">1361-8415</idno>
                <idno type="eissn">1361-8423</idno>
                <title level="j">Medical Image Analysis</title>
                <imprint>
                  <publisher>Elsevier</publisher>
                  <biblScope unit="volume">10</biblScope>
                  <biblScope unit="issue">1</biblScope>
                  <biblScope unit="pp">71-81</biblScope>
                  <date type="datePub">2006-02</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1016/j.media.2005.02.001</idno>
              <idno type="pubmed">15919234</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="mesh">Computer Simulation</classCode>
              <classCode scheme="mesh">Computer-Assisted Instruction</classCode>
              <classCode scheme="mesh">User-Computer Interface</classCode>
              <classCode scheme="mesh">Venous Thrombosis</classCode>
              <classCode scheme="mesh">Education, Medical</classCode>
              <classCode scheme="mesh">Elasticity</classCode>
              <classCode scheme="mesh">Feedback</classCode>
              <classCode scheme="mesh">Humans</classCode>
              <classCode scheme="mesh">Image Processing, Computer-Assisted</classCode>
              <classCode scheme="mesh">Models, Cardiovascular</classCode>
              <classCode scheme="mesh">Phantoms, Imaging</classCode>
              <classCode scheme="mesh">Thigh</classCode>
              <classCode scheme="halDomain" n="info.info-oh">Computer Science [cs]/Other [cs.OH]</classCode>
              <classCode scheme="halDomain" n="info.info-gr">Computer Science [cs]/Graphics [cs.GR]</classCode>
              <classCode scheme="halDomain" n="sdv.ib">Life Sciences [q-bio]/Bioengineering</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Echography is a useful tool to diagnose a thrombosis; however, since it is difficult to learn to perform this procedure, the objective of this work is to create a simulation to allow students to practice in a virtual environment. Firstly, a physical model of the thigh was constructed based on experimental data obtained using a force sensor mounted on a robotic arm. We present a spring damper model consisting of both linear and non-linear elements. The parameters of each of these elements are then fitted to the experimental data using an optimization technique. By employing an implicit integration to solve the dynamics of the system we obtain a stable physical simulation at over 100 Hz. Secondly, a haptic interface was added to interact with the simulation. Using a PHANToM force-feedback device may touch and deform the thigh in real-time. In order to allow a realistic sensation of the contact we employ a local modeling technique allowing to approximate the forces at much higher frequency using a multi-threaded architecture. Finally, we present the basis for a fast echographic image generation depending on the position and orientation of the virtual probe as well as the force applied to it.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-2395" status="OLD">
          <idno type="RNSR">200418270W</idno>
          <orgName>Geometry and Probability for Motion and Action</orgName>
          <orgName type="acronym">E-MOTION</orgName>
          <date type="end">2006-12-31</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/equipes/e-motion</ref>
          </desc>
          <listRelation>
            <relation active="#struct-188" type="direct"/>
            <relation active="#struct-51016" type="indirect"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation active="#struct-300275" type="indirect"/>
            <relation name="UMR5527" active="#struct-441569" type="indirect"/>
            <relation active="#struct-2497" type="direct"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-388249" status="OLD">
          <orgName>Gestes Medico-chirurgicaux Assistés par Ordinateur</orgName>
          <orgName type="acronym">TIMC-IMAG-GMCAO</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>Domaine de la Merci, 38706 La Tronche, France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www-timc.imag.fr/gmcao</ref>
          </desc>
          <listRelation>
            <relation active="#struct-707" type="direct"/>
            <relation active="#struct-51016" type="indirect"/>
            <relation active="#struct-89889" type="indirect"/>
            <relation active="#struct-301767" type="indirect"/>
            <relation name="UMR5525" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-188" status="OLD">
          <idno type="IdRef">185261787</idno>
          <orgName>Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble</orgName>
          <orgName type="acronym">GRAVIR - IMAG</orgName>
          <date type="start">1995-01-01</date>
          <date type="end">2006-12-31</date>
          <desc>
            <address>
              <addrLine>655, avenue de l'Europe - 38330 Montbonnot-Saint-Martin</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-51016" type="direct"/>
            <relation active="#struct-300009" type="direct"/>
            <relation active="#struct-300275" type="direct"/>
            <relation name="UMR5527" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-51016" status="OLD">
          <idno type="IdRef">026404796</idno>
          <idno type="ROR">https://ror.org/02aj0kh94</idno>
          <orgName>Université Joseph Fourier - Grenoble 1</orgName>
          <orgName type="acronym">UJF</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ujf-grenoble.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300275" status="OLD">
          <idno type="IdRef">026388804</idno>
          <orgName>Institut National Polytechnique de Grenoble</orgName>
          <orgName type="acronym">INPG</orgName>
          <date type="end">2006-12-31</date>
          <desc>
            <address>
              <addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-2497" status="VALID">
          <idno type="RNSR">199218244V</idno>
          <idno type="ROR">https://ror.org/00n8d6z93</idno>
          <orgName>Centre Inria de l'Université Grenoble Alpes</orgName>
          <desc>
            <address>
              <addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/centre/grenoble</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-707" status="OLD">
          <idno type="IdRef">14728936X</idno>
          <idno type="ISNI">0000 0004 4687 1979</idno>
          <idno type="RNSR">199511969L</idno>
          <idno type="ROR">https://ror.org/03985kf35</idno>
          <orgName>Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525</orgName>
          <orgName type="acronym">TIMC-IMAG</orgName>
          <date type="start">1993-01-01</date>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>Domaine de la Merci, 38706 La Tronche, France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www-timc.imag.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-51016" type="direct"/>
            <relation active="#struct-89889" type="direct"/>
            <relation active="#struct-301767" type="direct"/>
            <relation name="UMR5525" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-89889" status="OLD">
          <idno type="IdRef">026388804</idno>
          <idno type="ROR">https://ror.org/05sbt2524</idno>
          <orgName>Institut polytechnique de Grenoble - Grenoble Institute of Technology</orgName>
          <orgName type="acronym">Grenoble INP</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2019-12-31</date>
          <desc>
            <address>
              <addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.grenoble-inp.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-301767" status="VALID">
          <idno type="ROR">https://ror.org/01c7wz417</idno>
          <orgName>VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement</orgName>
          <orgName type="acronym">VAS</orgName>
          <date type="start">2010-01-01</date>
          <desc>
            <address>
              <addrLine>Université de Lyon, VetAgro Sup, 69280 Marcy l'Etoile (campus vétérinaire); Université de Clermont, VetAgro Sup, 63370 Lempdes (campus agronomique)</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.vetagro-sup.fr/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>