ii To the first patient to ever be healed with the aid of a functional model of articulations. iv "(...) Valeu a pena? Tudo vale a pena Se a alma nãoé pequena. Quem quer passar além do Bojador Tem que passar além da dor. Deus ao mar o perigo e o abismo deu, Mas neleé que espelhou o céu." Abstract Computer Graphics came into the medical world especially after the arrival of 3D medical imaging. Computer Graphics techniques are already integrated in the diagnosis procedure by means of the visual

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... idimensional analysis of computer tomography, magnetic resonance and even ultrasound data. The representations they provide, nevertheless, are static pictures of the patients' body, lacking in functional information. We believe that the next step in computer assisted diagnosis and surgery planning depends on the development of functional 3D models of human body. It is in this context that we propose a model of articulations based on biomechanics. Such model is able to simulate the joint functionality in order to allow for a number of medical applications. It was developed focusing on the following requirements: it must be at the same time simple enough to be implemented on computer, and realistic enough to allow for medical applications; it must be visual in order for applications to be able to explore the joint in a 3D simulation environment. Then, we propose to combine kinematical motion for the parts that can be considered as rigid, such as bones, and physical simulation of the soft tissues. We also deal with the interaction between the different elements of the joint, and for that we propose a specific contact management model.