Computational models for image-guided robot-assisted and simulated medical interventions

Medical image analysis plays a crucial role in the diagnosis, planning, control, and follow-up of therapy. To be combined efficiently with medical robotics, medical image analysis can be supported by the development of specific computational models of the human body operating at various levels. we describe a hierarchy of these computational models, including the geometrical, physical, and physiological levels, and illustrate their potential use in a number of advanced medical applications including image-guided robot-assisted and simulated medical interventions. we conclude with scientific perspectives.