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Combining haptic sensing with safe physical interaction
International audience -
Modeling and instrumentation for position and torque control of a 4DOF force-...
International audience -
Design and evaluation of a haptic interface for interactive simulation of min...
International audience -
Visual servoing in medical robotics.
International audience -
Contributions to ultrasound visual servoing
The objective of our research work is to control in a visual closed-loop manner the full motion of a 2D (US) ultrasound probe actuated by a medical robot in order to... -
Dexterous Serial Comanipulation for Minimally Invasive Surgery
A minimally invasive surgery, which typically involves endoscopic camera and laparoscopic instruments, may seem to be the ideal surgical procedure for its apparent... -
Visual Guidance of an Active Handheld Microsurgical Tool
In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push... -
Control a robot tele-echography by visual servoing
The light weight robots used for robotized tele-echography allow the medical expert to remotely operate a 2D-ultrasound probe. The real-time analysis of the patient's... -
Continuous identification of gait phase for robotics and rehabilitation using...
International audience -
Robotized mosaicing of endomicroscopic images
Probe-based Confocal Laser Endomicroscopy (pCLE) is an imaging modality that requires placing a probe in contact with a tissue and provides real-time images of... -
Contribution to an appropriate design of medical robots : towards a mechatron...
In this thesis, we propose a contribution to the design of medical robots, by offering a concurrent design or simultaneous approach. As opposed to a natural sequential...
