Abstract: The invention relates to a method for controlling a robot (1) defined by a node model and deformable by means of actuators (2). Effector points of the robot must follow a predetermined path. A matrix K defines a change in the inner forces of the robot in each node, on the basis of the change in position of the nodes. Said method includes: updating the K values on the basis of the current position of the nodes of the robot; determining the Jacobian matrix J of the vector ?(x), x being a vector of the position of the nodes and the vector ?(x) comprising respective lines which indicate the coordinates of the gaps between the position of each effector point and the predetermined path thereof, and the movement of each actuator; calculating the values of the matrix W=J·K?1·JT; and solving the equation ?=W·?+?0 and controlling the robot on the basis of said resolution.

Abstract: This system comprises means (9) for determining a position of a first portion of a medical instrument in the body of a subject at a determination time, and means (11) for displaying an image of the first portion in the determined position. The determination means (9) comprise an imaging module (15) that is capable of acquiring, at an acquisition time that precedes said determination time, a position of the first portion, a detection module (17) for detecting a movement of a second portion of the medical instrument between said acquisition and determination times, and a determination module (19) for determining the position of the first portion (3d) at said determination time, from said position of the first portion at said acquisition time and from said movement of the second portion.

Abstract: The invention relates to a method for controlling a robot (1) defined by a node model and deformable by means of actuators (2). Effector points of the robot must follow a predetermined path. A matrix K defines a change in the inner forces of the robot in each node, on the basis of the change in position of the nodes. Said method includes: updating the K values on the basis of the current position of the nodes of the robot; determining the Jacobian matrix J of the vector ?(x), x being a vector of the position of the nodes and the vector ?(x) comprising respective lines which indicate the coordinates of the gaps between the position of each effector point and the predetermined path thereof, and the movement of each actuator; calculating the values of the matrix W=J·K?1·JT; and solving the equation ?=W·?+?0 and controlling the robot on the basis of said resolution.

Abstract: Methods and apparatus provide realistic training in endovascular and endoluminal procedures. One embodiment includes modeling accurately the tubular anatomy of a patient to enable optimized simulation. One embodiment includes simulating the interaction between a flexible device and the anatomy and optimizing the computation. One embodiment includes replicating the functionality of therapeutic devices, e.g. stents, and simulating their interaction with anatomy. One embodiment includes computing hemodynamics inside the vascular model. One embodiment includes reproducing visual feedback, using synthetic X-ray imaging and/or or visible light rendering. One embodiment includes generating contrast agent injection and propagation through a tubular network. One embodiment includes reproducing aspects of the physical environment of an operating room by simulating or tracking, such as C-arm control panel, foot pedals, monitors, real catheters and guidewires, etc.

Abstract: The invention relates to a method of interactively simulating contact between objects.