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 in this article 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 this article with scientific perspectives.