The minimally invasive approach of arthroscopy means less pain and faster recovery time for patients compared to open surgery. However, it implies a high difficulty of performance. Therefore, surgeon should remain at a high level of technical and professional expertise to perform such operations. Surgeon’s skills are being developed over years of surgical training on animals, cadavers and patients. Nowadays, cadavers and animal specimens present an ethical problem also the practice on real humans is usually risky. For surgeons to reach a high level, new and alternative ways of performing surgical training are required. Virtual reality technology has opened new realms in the practice of medicine. Today, virtual reality simulators have become one of the most important training methods in the medical field. These simulators allow medical students to examine and study organs or any structure of the human body in ways that were not possible few years earlier. Similarly, the surgeon as well as the medical student can gain a valuable experience by performing a particular surgery with an anatomical accuracy and realism as it is actually performed in the real world. Thus, they can practice on virtual operation before they proceed and operate on real patients. In this thesis, a virtual reality training simulator for wrist arthroscopy is introduced. Two main issues are addressed: the 3-D reconstruction process and the 3-D interaction. Based on a sequence of CT images a realistic representation of the wrist joint is obtained suitable for the computer simulation. Two main components of the computer-based system interface are illustrated: the 3-D interaction to guide the surgical instruments and the user interface for haptic feedback. In this context, algorithms that model objects using the convex hull approaches and simulate real time exact collision detection between virtual objects are presented. A force feedback device, coupled with a haptic algorithm, is used as a haptic interface with the computer simulation system. This leads in the development of a low cost system with the same benefits as professional devices. In this regard, the wrist arthroscopy can be simulated and medical students can learn the basic skills required with safety, flexibility and less cost / La chirurgie arthroscopique présente actuellement un essor très important pour le bénéfice du plus grand nombre des patients. Cependant, cette technique possède un certain nombre d’inconvénients et il est donc nécessaire pour le médecin de s’entrainer et répéter ses gestes afin de pouvoir exécuter ce type d’opération d’une façon efficace et certaine. En effet, les méthodes traditionnelles d’enseignement de la chirurgie sont basées sur l’autopsie des cadavres et l’entrainement sur des animaux. Avec l’évolution de notre société, ces deux pratiques deviennent de plus en plus critiquées et font l’objet de réglementations très restrictives. Afin d’atteindre un niveau plus élevé, de nouveaux moyens d’apprentissage sont nécessaires pour les chirurgiens. Récemment, la réalité virtuelle commence d’être de plus en plus utilisée dans la médecine et surtout la chirurgie. Les simulateurs chirurgicaux sont devenus une des matières les plus récentes dans la recherche de la réalité virtuelle. Ils sont également devenus une méthode de formation et un outil d’entrainement valable pour les chirurgiens aussi bien que les étudiants en médecine. Dans ce travail, un simulateur de réalité virtuelle pour l’enseignement de la chirurgie arthroscopique, surtout la chirurgie du poignet, a été préesenté. Deux questions principales sont abordées : la reconstruction et l’interaction 3-D. Une séquence d’images CT a été traitée afin de générer un modèle 3-D du poignet. Les deux principales composantes de l’interface du système sont illustrées : l’interaction 3-D pour guider les instruments chirurgicaux et l’interface de l’utilisateur pour le retour d’effort. Dans ce contexte, les algorithmes qui modélisent les objets en utilisant les approches de “Convex Hull” et qui simulent la détection de collision entre les objets virtuels en temps réel, sont présentés. En outre, un dispositif de retour d’effort est utilisé comme une interface haptique avec le système. Cela conduit au développement d’un système à faible coût, avec les mêmes avantages que les appareils professionnels. A cet égard, l’arthroscopie du poignet peut être simulée et les étudiants en médecine peuvent facilement utiliser le système et peuvent apprendre les compétences de base requises en sécurité, flexibilité et moindre coût

Permafrost is a variable in Antarctic terrestrial ecosystems, and the role it plays in the cryosphere is not well understood. There is much still to be learnt about the thermal state, physical properties, thickness and age of permafrost in Western Dronning Maud Land (WDML). Active layer dynamics and observed change over time have the potential to improve our knowledge of climate change. Understanding the effects of a warming climate on permafrost can also be of benefit to infrastructure, especially in areas with a large amount of frozen ground such as Scandinavia, Canada and Russia. Active layer and permafrost dynamics of WDML, Antarctica, are presented and discussed using data from six study sites, namely the Robertskollen, Vesleskarvet, Flarjuven, Grunehogna, Slettjfell nunataks and the Troll research station in the Jutulsessen area. Ground and ambient air temperature, as well as ground moisture data were collected for each site. An inventory of active layer and permafrost landforms was compiled, as were the frequency of cycles over the zero-degree isotherm, and the depth of the active layer. Furthermore, 3D models, geo-referenced maps and Digital Elevation Models were created of study areas with the use of an Unmanned Aerial Vehicle (UAV). Polygonal features are the most common landscape feature and are common to most of the study sites. Robertskollen has the deepest active layer at over 66cm and Slettfjell the shallowest at 9cm. A maximum recorded air temperature of 8.76°C (10/11/2014) occurred at Troll with the second highest maximum of 6.77°C (22/12/2010) recorded at Vesleskarvet. Robertskollen has the highest observable biological growth and a maximum recorded ground temperature of 22.84°C (10/01/2014). Troll and Valterkulten, registered the second and third highest ground temperatures respectively. The high ground Temperature observed for Robertskollen may be ascribed to it being the lowest altitude site. The highest number of cycles over the zero-degree isotherm was observed at Troll (11.01%), followed by Robertskollen (10.99%). For relatively warm areas, such as Robertskollen it is recommended that two metre borehole loggers are installed in order to capture a detailed understanding of the active layer. The UAV proved to be a beneficial tool for capturing aerial photographs for post fieldwork analysis and 3D modelling.