Completed Projects

A selection of R&D projects I have led to completion

• An embedded controller-board for devices with haptic force feedback (xitact).
  Designed and implemented the embedded software of a controller board for a line of haptic robots and simulation devices.
  • A multipurpose board driven by a Microcontroller, with a USB communication slave chip and a programmable logic (CPLD).
  • Real-time (5kHz) closed-loop control, embedded logic for self-calibration and haptic enhancements.
  • Designed and implemented high-level Windows drivers (based on the USB HID protocol).
• A virtual reality training system for laparoscopic surgery (xitact).
  Reorganizing the development process and refactor the software architecture increase quality and productivity, ensuring that releases are made on schedule:
  • Setting up a fast-paced iterative development process, with a continuous integration of all development threads.
  • Refactoring the software, streamlining dependencies and improving performance.
  • Allow the integration of new simulation engines by introducing a plug-in architecture.
  • Introduction of fully automated daily builds and testing.
  This simulation is the first force-feedback enabled simulation that has been validated by the European Association for Endoscopic Surgery, and used in accredited courses for laparoscopic surgery.
• 3D planning software for hip replacement surgery (a feasibility study and prototype, SNN-Europe/Cedara, 2001).
  Surgery planning and impingement analysis through interactive 3D manipulation and placement of implant models within patient bones reconstructed from CT.
  • Conversion between surface and volumetric models (i.e. triangle meshes and voxel matrices) for multi-modal 3D and 2D visualization.
• A platform for computer-assisted surgery (architect and project lead, SNN-Europe/Cedara, 2000-2001).
  This platform was developed for B|Braun-Aesculap, and is the foundation of the OrthoPilot, its successful product line for Computer Assisted Orthopedic Surgery.
  Key features of the framework include:
  • Leading innovations for ease of use and performance (full speed instrument tracking, continuous camera positioning aid, etc)
  • A framework of reusable components to support the development of a product line, reducing code duplication within and across applications.
  • Workflow-based guidance throughout the procedure, customizable at run-time (benefits: extreme ease-of-use for the surgeon who fully controls the software with a simple foot switch, while being able to adapt applications to local markets and preferences).
  • Full documentation for validation in worldwide markets (FDA and CE Medical Device certifications).
  • Support for best-of-class graphics (OpenGL-based), multi-threaded architecture for optimal responsiveness.
  Technical overview and screenshot.
• An automated-calibration software for C-arm based image-guided surgery (guidance and supervision of an EPFL diploma project, SNN-Europe/Cedara, 2000)
  • Using image-processing techniques, allow the fully automated detection of calibration marks projected on C-arm (X-ray) images of varying quality.
  • Through orientation and layout detection, a 3D-to-2D non-linear transform is generated, in most cases without any user intervention.
  • The unique approach was integrated in Cedara's solution for C-arm guided surgery - to provide instant navigation on one or more intra-operative images.
  • Implemented several optimized image-processing tools (Hough transforms, Top-Hat/Well, noise-removal, etc).
• A high-performance interface to the NDI Polaris optical tracking system (SNN-Europe/Cedara, 2000).
  Designed and implemented a multi-threaded server providing computer-assisted surgery applications with optimal tracking performance (speed & accuracy):
  • Queuing and interpolation of position data acquired at the maximum rate supported by the system.
  • Support for wireless instruments, both active and passive.
  • Support for interactive camera positioning aids and more...
  This has been the first FDA-validated interface to fully take advantage of the maximum theoretical performance of the Polaris tracking system.
• Maintenance and extensions to Cedara's image guided platform for computer-assisted surgery of the brain and spine (SNN/Cedara, 1998-1999).
  Several integration, maintenance and speed/usability enhancement projects on an FDA-certified image guided surgery product. A project of interest has been the integration of a surgical microscope, the Zeiss OPMI Neuro/NC4:
  • Heads-up display overlaid on the field of view, providing guidance and a graphical user interface.
  • See-through visualization of structures segmented on CT or MRI images, based on precise view position and magnification.
  • Control of the surgical navigation software through image-overlaid menus, using control buttons embedded on the microscope handles.
  • Microscope tracking, calibration, and serial communications.
    
• An SGI IRIX Performer-based C++ framework for virtual-reality surgical simulations (VIRGY project, VRAI group, EPFL, 1997)
  • A plug-in based scene architecture for real time simulation, implementing scene persistence to a text based VRML-like file format.
  • Tuning of organ display and deformation.
  • Optimization of mesh-processing algorithms (500x speed-ups!).
• A multimedia software teaching the diagnosis and management of peripheral vascular disease (Toolbook/Windows, as part of my doctorate thesis, 1994-1997).
  Screenshots: -1- -2- -3-
• BkgConsole: a C++ library supporting the debugging of multi-threaded applications (freeware, 1996)
  • A free contribution to the Metrowerks PowerPlant framework for MacOS 7-9.
  • Anecdote: some corporate users found it useful enough to finance a commercial port of these libraries to the Windows platform. They shamelessly borrowed the name of my free utility...
• A database for tracing and optimizing operating room activities (contract work for regional hospitals, 1992-1995)
  • Easy input of data relevant to an anesthesiology department and hospital management.
  • Programmed an extensive set of reporting and analysis tools.
  The system is still being used in hospitals today.
• An easy-to-use approach calculation software for stereotactic neurosurgery using BRW frames (C++/MacOS, during an internship in neurosurgery, 1995).
  • A graphical application replacing an awful calculator-based software delivered with the product.
• Socraty: an interactive multiple-choice questionnaire testing application (freeware C++/Mac, 1994)
  • Interactive testing application, with adaptive selection of the next questions based on previous performance.
  • Rehearsal mode with automated repeats of previously failed questions.
  • Includes an editor for creating question databases, and supports the use of multimedia materials within the questions.
• Sales analysis and forecasting tools (contract work, 1993)
  • Tools for processing data in a sales database, analyze trends, and schedule pre-orders of vehicles.
  • Allowed a regional dealership to increase pre-orders (as encouraged by a new cost structure) while minimizing risks.
• PinchLENI: software for thermodynamic optimization of industrial processes (Pascal/Macintosh, co-developed with another student-assistant at the LENI lab of the EPFL, 1990-1995).
  • Includes a 2D drag-and-drop graphical editor for flow chart design, editing of fluid properties, built-in computation of thermodynamic properties, and analysis and definition of an optimized network of heat exchangers using the 'pinch' theory.
  • Used by the LENI as a tool for education, research, and process documentation for publications.
  • This product has been ported to Windows and, 15 years later, is still being sold to industrial users.