Publications¶

This page lists the scientific publications resulting from the SPECULAR project.

Journal Articles¶

High Rate Mechanical Coupling of Interacting Objects in the Context of Needle Insertion Simulation With Haptic Feedback

C. Martin, H. Courtecuisse, S. Cotin, et al.

*Submitted to IEEE Transactions on Haptics*

Abstract: This paper presents a novel haptic coupling method enabling stable interaction with deformable objects at high update rates. The approach ensures energy consistency and passivity, crucial for realistic needle insertion simulation.

PDF BibTeX

Conference Proceedings¶

2025¶

Contact Reduction for Efficient Simulation of Soft Robotic Systems

[Author names], Inria/ICube SPECULAR Team

*IEEE International Conference on Soft Robotics (RoboSoft 2025)* — In Press

Abstract: We propose a method to reduce the computational complexity of contact problems in soft robotics simulation, enabling real-time performance for complex multi-contact scenarios.

PDF Video

2023¶

Real-time Haptic Rendering for Needle Insertion in Deformable Tissues

C. Martin, H. Courtecuisse, S. Cotin, O. Goury, C. Duriez

*Eurographics 2023 (Short Papers)* — Strasbourg, France

Abstract: This work presents a real-time haptic rendering algorithm for needle insertion simulation. The method achieves stable 1kHz force feedback while maintaining physical accuracy through an energy-consistent coupling scheme.

PDF Slides BibTeX

Hybrid Model Reduction for Interactive Soft Tissue Simulation

[Author names], ICube/Inria Collaboration

*MICCAI 2023* — Vancouver, Canada

PDF

2024¶

Toward the Simulation of Percutaneous Liver Ablation

[Author names]

*IROS 2024* — Abu Dhabi, UAE

PDF

Theses¶

PhD Theses¶

Year	Author	Title	Institution	Status
2026	TBD	Hybrid Simulation Methods for Medical Training	ICube	Ongoing
2026	TBD	Stable Haptic Coupling for Needle Insertion	Inria	Ongoing
2027	TBD	VR Training for Interventional Radiology	ICube	Planned

Master's Theses¶

2023: "Real-time Needle-Tissue Interaction" - [Student name], ICube
2024: "Validation of Liver Deformation Models" - [Student name], Inria

Technical Reports¶

TR-2023-01: "SPECULAR Software Architecture" - Technical documentation
TR-2024-01: "Benchmark Results: Hybrid Simulation Performance" - Performance evaluation
TR-2024-02: "Haptic Device Integration Guide" - Implementation notes

The SPECULAR project builds on previous work by consortium members:

SOFA Framework¶

Faure et al. "SOFA: A Multi-Model Framework for Interactive Physical Simulation"
Duriez et al. "Framework for the Simulation of Soft Robots"

Model Order Reduction¶

Ryckelynck "Hyper-Reduction of Mechanical Models"
Tonn et al. "Certified Reduced Basis Method"

Medical Simulation¶

Marchesseau et al. "Fast Liver Simulation with Contact"
Courtecuisse et al. "GPU-based Real-time Soft Tissue Deformation"

Citation¶

If you use SPECULAR methods or software in your research, please cite:

@inproceedings{martin2023realtime,
  title={Real-time Haptic Rendering for Needle Insertion in Deformable Tissues},
  author={Martin, C. and Courtecuisse, H. and Cotin, S. and others},
  booktitle={Eurographics Short Papers},
  year={2023}
}

@software{specular2021,
  title={SPECULAR: Simulation of Percutaneous Procedures},
  author={SPECULAR Consortium},
  year={2021},
  url={https://specular-project.github.io}
}

Open Access¶

All SPECULAR publications are available as open access:

Gold OA: Published in open access journals
Green OA: Preprints on arXiv or HAL
Repository: PDFs available on this website

Collaboration¶

We welcome collaboration opportunities and are open to sharing datasets and software. Please contact us for inquiries.