2022-04892 - Doctorant F/H Fast and stable Finite Element simulation for surgical assistance - application to augmented reality and robotic control -

Niveau de diplôme exigé : Bac + 5 ou équivalent

Fonction : Doctorant

Contexte et atouts du poste

Augmented reality (AR) is increasingly used in medicine, as it offers the possibility of adding additional information (vessels, tumors, etc.) above medical images in order to help surgeons during the procedure. Finite element (FE) methods are among the most effective for performing the non-rigid registration needed for AR. However, in practice, only a partial view of the organs is often available during the operation. However, because of the significant deformations, the solutions by FE are subject to uncertainties. In order to make AR-based medical decisions, a quantitative measure of uncertainty must be provided to the surgeon in real-time. This information is essential for deep internal structures located far from the data extracted from the images.

Mission confiée

In this thesis, we wish to develop inverse simulation methods in order to carry out a study allowing us to evaluate the mobility domain of the FE model while satisfying all the constraints used for the registration. This study should provide additional information that will be used during the operation to assess the reliability of AR. The aim of this thesis is to give a confidence index of the registration as a map, allowing to estimate the mobility of each point of the mesh and to show the link with the uncertainty.

Principales activités

To do this, we will wish to study the influence of the constitutive laws of the biomechanical models (in particular by using hyperelastic models), the parameters, and the boundary conditions. It will also be necessary to study the stability of the nonlinear models for these registration applications. The application relates to the nonrigid registration of the liver for percutaneous procedures under fluoroscopy. The results obtained could then be combined with our robotics project, which aims to automate the needle insertion gesture with the help of robotics.


Compétences techniques et niveau requis : M2 en informatique ou robotique



  • Restauration subventionnée
  • Transports publics remboursés partiellement
  • Congés: 7 semaines de congés annuels + 10 jours de RTT (base temps plein) + possibilité d'autorisations d'absence exceptionnelle (ex : enfants malades, déménagement)
  • Possibilité de télétravail (après 6 mois d'ancienneté) et aménagement du temps de travail
  • Équipements professionnels à disposition (visioconférence, prêts de matériels informatiques, etc.)
  • Prestations sociales, culturelles et sportives (Association de gestion des œuvres sociales d'Inria)
  • Accès à la formation professionnelle
  • Sécurité sociale


Salary: 1982€ gross/month for 1st and 2nd year. 2085€ gross/month for 3rd year.

Monthly salary after taxes : around 1596,05€ for 1st and 2nd year. 1678,99€ for 3rd year