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(1)Vers un système de navigation 3D en neuroradiologie interventionnelle Sébastien Gorges. To cite this version: Sébastien Gorges. Vers un système de navigation 3D en neuroradiologie interventionnelle. Modélisation et simulation. Université Henri Poincaré - Nancy I, 2007. Français. �tel-00165960�. HAL Id: tel-00165960 https://tel.archives-ouvertes.fr/tel-00165960 Submitted on 2 Aug 2007. HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés..

(2) D´ epartement de formation doctorale en informatique UFR STMIA. ´ Ecole doctorale IAEM Lorraine. Vers un syst` eme de navigation 3D en neuroradiologie interventionnelle ` THESE pr´esent´ee et soutenue publiquement le le 10 mai 2007 pour l’obtention du. Doctorat de l’universit´ e Henri Poincar´ e – Nancy 1 (sp´ ecialit´ e informatique) par. S´ebastien Gorges. Composition du jury Pr´esident :. Marie-Christine Haton. Professeur d’universit´e, U.H.P Nancy I. Rapporteurs :. Jocelyne Troccaz Jean-Marc Lavest. Directeur de recherche, CNRS, Grenoble Professeur d’universit´e, Clermont I. Examinateurs :. Marie-Odile Berger Ren´e Anxionnat Yves Trousset Pierre Jannin Erwan Kerrien. Charg´e de recherche INRIA, Nancy (Directrice de th`ese) Professeur d’universit´e, Facult´e de M´edecine, U.H.P Nancy I Docteur Ing´enieur, GE Healthcare, Buc Charg´e de recherche INSERM, Rennes Charg´e de recherche INRIA, Nancy. Laboratoire Lorrain de Recherche en Informatique et ses Applications — UMR 7503.

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(57) ? ^-"4  ! $$. $= J. $$ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $   N(

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(59)  $$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ $$$ = $?> $ = 9    " =+ 0 "  !   !"  " %# "  (,  #   .- # ^- $ = $?> $ B I  4   #" $ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ $$$ =$ = @ ! "=+ % #"   %( "!  N<"  #   " %# " #" K#&)( $$$$ $$$ = $ = $ < 9   N<"  #  #$   $$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ $$$ = $ = $?> V N< "    

(60) " Ym#" "! K#&)(  + (  %m- "  " !# $$ $$$ = $ = $ = 9 "Nj

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(62) "'&  ?R- %()(@(/< 6_ +F * 0(  !4<"   A 5-,$ = $ B $ < 9  " Ym# "   $$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ $$$ = $ B $?> I*? "   

(63) " Ym#" "!

(64) S#!&0(    $$ $$ $$$ $$ $$$$ $$$ =$?C    @( "  (  N< "   A 5 $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ $$$ H. H. $$ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $. $= J $=ME $=MG $+B H $+B $+B. <. $+B0>. <. $+B7= $+B7= $+BMB. $+B0C $+B0C $+B J. $+B K $+B K $+B7E $+B7E $+B7E $+B7G $+B7G. $. $. $. $. $. $. $. $. $. $. $. $. $. $. $. $. $. $. $+B7G. C< C$= C$= ](] CMC CMC CMC CJ CJ CK CK CK C$E C$G JMH JMH JMH J3< J>.

(65) =$?C $ < T " 

(66) ? ^-"4   $ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ =$?C $?> T ".-   (  4<"   A 5 # " S(  (   4   $$$ $$ $$ $$$ $$$$ =$?C $ = I     N(  S(" !4<"   A 5 $ $$ $$ $$$$$ $$ $$ $$$ $$$$ = $ J 9   N< "   #\(#% "   "'& N?:- Y( -  (" * %( !  N<"  # A D', =$ J $ < 9  " %# "   $$ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ = $ J $?> I*? " #    " Ym#" !" S#!&)( $ $$ $$$$$ $$ $$ $$$ $$$$ = $ K   @( "  (  !4<"   A D $$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ = $ K $ < D "!  1    m!" $$ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ = $ K $?> V !4<"          $$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ = $ K $ = I ""2("      "K- "   "g? 4 !#  1   K(" $$ $$ $$$ $$$$ =$ K $ B I  N(    "K-   (  !4<"   A D K("  #/- S3 $-[&)( $ =$ K $?C _   !K-   j/?     ! #  !  ".- ! $$$ $$ $$ $$$ $$$$ =$ K $ J V !4<"   A D # " S(   N<"  #\(!  4   $$$$$ $$ $$ $$$ $$$$ =$ K $ K I  K3 #/#S( "!  N<"  # A D $$ $$ $$ $$$$$ $$ $$ $$$ $$$$ =$ E V 

(67) 4(   $$$$$ $$ $$ $$$ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$  /9"M,24',35(/ ;  S  !%'4:%'\&,3 4'/9\ "M, #/9!\ #)/ -(\&% %:  B $ < ` "  (  !# $$$$ $$ $$ $$$ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $?> 9 "   # =MD  >$D < #S- 4   $ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $?> $ < 9 "!K# " #4&)( $$ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $?> $?> 9 "!K# " < #S- "N! $$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $?> $ = V # 4( !# K("!m-  < #S- 4   $ $$$$$ $$ $$ $$$ $$$$ B $ = 9 m-    "   #8( !    2("    $$$ $$ $$ $$$ $$$$ B $ = $ < 9  "    m-  < K-    2("  $$ $$$$$ $$ $$ $$$ $$$$ B $ = $?> 9   #   @0(   >+ "  Y( $ $$ $$$$$ $$ $$ $$$ $$$$ B $ = $ = I     N(  S(" "  %(R? K-"2( " $$ $$$$$ $$ $$ $$$ $$$$ B $ B V " K-" Em-  4&)(  =+ "  %(  

(68) ( "$$ $$$$$ $$ $$ $$$ $$$$ B $ B $ < V #  !  2? "- "4   $$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $ B $?> V 0 "    " %m#"  "$ $$ $$$$$ $$ $$ $$$ $$$$ B $ B $ = V 0 "    " %m#"   "  $$$$$ $$ $$ $$$ $$$$ B $ B $ B D 43  m- [&)(  >+ "  Y( $ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $?C 9   #    =+ "  %( %("  "    =MD  >MD $$ $$$$$ $$ $$ $$$ $$$$ B $?C $ < T " #!    2(R?c  #  " %- "4&)(  >+ "  Y( $ $$ $$$ $$$$ B $?C $?> V !4<"      #! $ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $?C $ = ]:-! !#  + (,  #    >+ "  Y( $$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $ J f   !#   ".-!#  (,  #  $$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $ J $ < 9  "    %("  !4<"     $$ $$$$$ $$ $$ $$$ $$$$ B $ J $?> ]:` D j/?  $$ $$ $$ $$$ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $ J $ = ]:` D  " Y< ! $$ $$ $$$ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ B $ J $ B T  "    K(!  >+  ""2("K(" 1  0 #2( !" $$ $$ $$$ $$$$ B $ K V 

(69) 4(   $$$$$ $$ $$ $$$ $$$$ $$$ $$ $$ $$$$$ $$ $$ $$$ $$$$ D. H. d∗. π. Mf. Mf. . J> J= J= J= JB JC JC J0K J0K J0K JE JG K9< K9< K9< 2; $$$ K = $$$ K = $$$ K = $$$ K B $$$ K B $$$ K C $$$ K C $$$ K1J $$$ K E $$$ K G $$$+E H $$$+E H $$$+E < $$$+E7> $$$+EM= $$$+EM= $$$+E$B $$$+E7C $$$+E J $$$+E J $$$+E J $$$+E K $$$+EME $$$+G < $$$ $$$ $$$ $$$ $$$ $$$ $$$ $$$ $$$ $$$ $$$ $$$ $$$ $$$ $$$.

(70)  !.  

(71) 

(72). ] & '4 #21(\"7  %'/6,3#5  /0 9/ !83,34:%'#, %:  /0 %' 7 0 "M4'%:!% ! !/ C $ < ` "  (  !# $ $$ $$$ $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $?> 9 S3  K#2-   Y(/?  6_-  .-D8( %#.- *>_D , $$ $$ $$$ $$ $$$$ C $?> $ < ( [&)(K3  .#2 2?   #  $$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $?> $?> 9 m     ""         $-  $$$$$ $$ $$$ $$ $$$$ C $?> $ = 9  S( !     1 (

(73)   $$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $?> $ B ` K- ".U ![&)(   K3  .#2  _8D $$ $$$$$ $$ $$$ $$ $$$$ C $?> $?C V   N(

(74)   $$$ $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $ = D  " !#   $O (#"   %( %#.-  $ $$ $$$$$ $$ $$$ $$ $$$$ C $ = $ < 8D -2j !  L$O ( "# ! Y( 0 K- $ $$$$$ $$ $$$ $$ $$$$ C $ = $?> 9  "3    ^O ("## ! Y( % K-   "0( ! 4&)( $ $$$$ C $ = $ = 9      $ $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $ = $ B @  " 

(75) -  ("-      K- $$ $$ $$$$$ $$ $$$ $$ $$$$ C $ = $?C 9 :3 /# $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $ = $ J V   N(

(76)   $$$ $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $ B    @( "     #  !  ![&)( $ $$$$$ $$ $$$ $$ $$$$ C $ B $ < G"!  + -  N(  $ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $ B $?> D #/-  ![&0(      4<"   $ $$ $$$$$ $$ $$$ $$ $$$$ C $ B $ = _-K(!  $ $$$ $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $ B $ B V   N(

(77)   S( "  @( " ![&)( $$$$ $$ $$$ $$ $$$$ C $?CA@ ! !#  ( "3 S("(    ![&0(  $ $$$$$ $$ $$$ $$ $$$$ C $?C $ < D  " !#  ( "  2  $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $?C $?> _-K(!  $ $$$ $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $?C $ = ]:3 /#  $ $$$ $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ C $ J V   N(

(78)   S( " $O ("##  %( % .- $$ $$ $$$$$ $$ $$$ $$ $$$$  0/9"M%'(Z /  - 1/94'4'/P#[5 #%'#/ !,2!\ 4:/0\ %  ,35 /9\ ## (\&"M #% ! !/9\ J $ < ` "  (  !# $ $$ $$$ $$ $$$$ $$$ $$ $$ $$$$$ $$ $$$ $$ $$$$ J $?> 9  %(        4   $O (#"  [&)( $ $$ $$$$$ $$ $$$ $$ $$$$ J $ = 9  "!

(79) 

(80)  0- /-"   ( K(    0("K<  $$ $$ $$$$$ $$ $$$ $$ $$$$ J $ = $ < 9 m-  ( ! (,  #    1 ". %(RQ      Q $ J $ = $?> 9 m-  ( ! (,  #   + -  * j !"6 g3%-   , $$ $$$$ J $ = $ = 9 m-  ( !   0(" #  1  $$$$ $$ $$$ $$ $$$$ J $ = $ B V   N(

(81)   S( "!m-     K( $ $$$$$ $$ $$$ $$ $$$$ $J B ]:( "  %(    

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