Maître de conférences - HDR Associate Professor - Accredited to supervise research Université Claude Bernard Lyon 1 Teaching : Département d'Informatique of Lyon 1 Research : Laboratoire d'InfoRmatique en Images et Systèmes d'information (LIRIS) - ORIGAMI team Adress: Domaine scientifique de la Doua - Bâtiment Nautibus 23-25 Av. Pierre de Coubertin - 69100 Villeurbanne Cedex - France Phone: +33 (0) 4 72 44 81 92 Fax: +33 (0) 4 72 43 15 36 Email: florence.zara-at-liris.cnrs.fr |
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Our aim is to
Obstetricians learn the medical gesture of childbirth during actual deliveries. This learning becomes difficult in the case of instrumental deliveries where the dexterity of the gesture is necessary. The use of a simulator, allowing a first formation of this gesture without risk for the parturient and the fetus, would thus complement the training of young obstetricians. This simulator must restore the sensations experienced by the obstetrician, while taking into account parameters such as the morphology of the parturient and that of the fetus. This simulator, based on the techniques of Virtual Reality, requires the definition of a complete biomechanical model of the female reproductive system during childbirth, as well as the calculation of the forces generated by the Descent of the fetus.
A first work of research (thesis of Romain Buttin) allowed the realization of a bio-mechanical model, based on the finite element method, allowing simulation of the behavior of the organs involved during childbirth (uterus, maternal abdomen , Soft pelvis and bone) in contact with the fetus. This simulation thus makes it possible to obtain the trajectory of the fetus during its descent and its release.
The gesture of the puncture of large joints has evolved over the last ten years with the use of an ultrasound probe to better guide the insertion of the needle during the operation. The main difficulty in the realization and the learning of this gesture resides thus in the simultaneous manipulation of two instruments. It is necessary to know how to manipulate the ultrasound probe (to visualize the gesture performed on a remote screen) while inserting the needle into the joint. These two instruments can also be interchanged during the puncture, making the operation all the more delicate. The objective of the SPARTE project is thus the realization of a simulator learning the gesture of the puncture of large joints under ultrasound in order to allow learning of the gesture without risk for the patient.
To know more: SPARTE project website (funded by SAMSEI)Simulation interactive d'objets déformables pour la conception de simulateurs d'apprentissage aux gestes médicaux-chirurgicaux
Keywords: physical simulation, soft tissue biomechanical modeling, parallel simulation
Visualization of 4D data from simulation of particle or plasma beams
Keywords: big data, wavelet compression, 4D data
Parallel algorithms of physical simulation for the synthesis of images: application to the
animation of cloth
Keywords: physical simulation, parallelization, cluster of PCs
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FruitBin: a large-scale fruit bin picking dataset tunable over occlusion, camera pose and
scenes for 6D pose estimation
G. Duret, M. Ali, N. Cazin, A. Chapin, F. Zara, E. Dellandréa, J. Peters, L. Chen December 2023 |
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PickSim: A dynamically configurable Gazebo pipeline for robotic manipulation
G. Duret, N. Cazin, M. Ali, F. Zara, E. Dellandréa, J. Peters, L. Chen Advancing Robot Manipulation Through Open-Source Ecosystems - 2023 IEEE International Conference on Robotics and Automation (ICRA) Conference Workshop, London (UK), May 2023. |
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Chap 15: Numerical simulation of vaginal delivery
F. Zara Biomechanics of Female Reproductive System, Breast and Pelvic floor - From Model to Patient, Mathias Jean Brieu, Michel Cosson, Poul Fonss Nielsen (Book Editors), Elsevier (Publisher), August 2023. Contents of the book |
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Simulation temps réel d'insertion d'aiguille sous échographie. B. Saillant , F. Jaillet, F. Zara. Journées Françaises d'Informatique Graphique (JFIG 2022), 23-25 novembre 2022, Bordeaux (France). pdf. |
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A Virtual Reality and haptic
simulator for ultrasound-guided needle insertion. M. Alamilla, C. Barnouin, R. Moreau, F. Zara, F. Jaillet, T. Redarce, F. Coury. IEEE Transactions on Medical Robotics and Bionics, May, 2022. |
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Simulation interactive d'objets
déformables pour la conception de simulateurs d'apprentissage aux gestes
médicaux-chirurgicaux. F. Zara. Habilitation à Diriger les Recherches (HDR), defended on October 19th, 2020. Slides. |
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A
real-time ultrasound rendering with model-based tissue deformation for needle
insertion. C. Barnouin, F. Zara, F. Jaillet. 15th International Conference on Computer Graphics Theory and Applications, GRAPP 2020, Malta, february 2020. pdf. |
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Merge-and-simplify Operation for
Compact Combinatorial Pyramid Definition. G. Damiand, F. Zara. Pattern Recognition Letters, vol. 129, pp. 48-55, january 2020. |
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Hybrid
3D Mass-Spring System for simulation of isotropic materials with any Poisson's
ratio. K. Golec, J.-F. Palierne, F. Zara, S. Nicolle, G. Damiand. Visual Computer, volume 36, numéro 4, pages 809-825, may 2019 (issue date: April 2020). |
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Real-time Ultrasound Rendering for Ultrasound-Guided Puncture Training. C. Barnouin, F. Zara, F. Jaillet. Journées Françaises d'Informatique Graphique (JFIG 2018), 16 novembre 2018, Poitiers (France). pdf. |
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Distributed Combinatorial Maps for Parallel Mesh Processing. G. Damiand, A. Gonzalez-Lorenzo, F. Zara, F. Dupont. Open Access Revue Algorithms, volume 11, issue 7, numéro 105, 2018. |
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Simuler en temps réel la descente du foetus. F. Zara. Revue Quadrature, numéro 107, pages 34-46, EDP Sciences, Janvier-février-mars 2018. |
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Foreword
to the special section on VRIPHYS 2017. Computers & Graphics, Novembre 2017. F. Jaillet, F. Zara. |
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Modèle mécanique
d'une plaque mince. F. Zara. 20 pages, mai 2017, Lyon, France. Ce document présente le modèle mécanique d'une plaque mince. Je présente tout d'abord le cadre théorique de son étude, puis je présenterai les différentes notions permettant d'élaborer une simulation d'une plaque mince sous les hypothèses de petits déplacements et de petites déformations. Nous verrons ainsi l'étude de sa cinématique, la définition de sa déformation en utilisant le tenseur de déformation de Green-Lagrange linéarisé, la définition du tenseur de contraintes, la formulation de la loi de Hooke pour une plaque mince, la définition de son énergie de déformation, et enfin la formulation de l'équation de son mouvement. Ce document constitue le chapitre 2 de mon HDR. |
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Un peu de Mécanique des
Milieux Continus. F. Zara. 54 pages, mai 2017, Lyon, France. Ce document présente les notions de mécanique des milieux continus nécessaires à la compréhension du comportement des objets déformables en vue d'effectuer leur simulation. En effet, ces notions sont souvent éparpillées dans la littérature et les notations employées en mécanique diffèrent de celles usuellement employées par les mathématiciens et informaticiens. Je souhaitais ainsi rassembler ces connaissances dans ce document constituant le chapitre 1 de mon HDR (en cours de rédaction). |
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VRIPHYS 17: 13th Workshop on Virtual Reality Interactions and Physical Simulations, Lyon,
France, 2017. F. Jaillet, F. Zara. Proceedings. Eurographics Association 2017. |
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Hybrid 3D Mass-Spring System to simulate isotropic materials. K. Golec, J.-F. Palierne, F. Zara, S. Nicolle, G. Damiand. Work In Progress Session, VRIPHYS 2017: 13th Workshop on Virtual Reality Interaction and Physical Simulation, 23-24 April 2017, Lyon, France. |
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Chap 15: Uterus - Biomechanical modeling of uterus. Application to a childbirth
simulation
F. Zara, O. Dupuis. Biomechanics of Living Organs: Hyperelastic Constitutive Laws for Finite Element Modeling, Yohan Payan & Jacques Ohayon (Editors), Elsevier (Publisher), 2017. Contents of the book |
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Foreword to
the special section on VRIPHYS 2015. Computers & Graphics, April 2016. F. Jaillet, F. Zara, G. Zachmann. |
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New Mass Spring System formulation to model the behavior of soft tissues. K. Golec, F. Zara, S. Nicolle, J-F. Palierne, G. Damiand. ESB 2016 - 22nd Congress of the European Society of Biomechanics, July, 2016, Lyon, France. |
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VRIPHYS 15: 12th Workshop on Virtual Reality Interactions and Physical Simulations, Lyon,
France, 2015. F. Jaillet, F. Zara, G. Zachmann. Proceedings. Eurographics Association 2015. |
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Improvement of a Topological-Physical Model to manage different Physical Simulations.
K. Golec, M. Coquet, F. Zara, G. Damiand. International Conference in Central Europe on Computer Graphics and Visualization (WSCG 2015), Plzen, Czech Republic, 2015. |
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Développement de nouvelles technologies pour la formation aux gestes
médico-chirurgicaux.
F. Zara, L. Vadcard, T. Redarce. Annales des Mines. Réalités Industrielles. Connaissances et systèmes technologiques pour la santé. 2014. |