Bernard Bayle

71
Documents

Publications

Publications

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Stiffness mapping of metastatic pelvic bone

Cléa Sieffert , Laurence Meylheuc , Bernard Bayle , Julien Garnon
Multidisciplinary Biomechanics Journal, 2025, 49th congress of the Société de Biomécanique, ⟨10.46298/mbj.14545⟩
Article dans une revue hal-04738032 v2
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Online correction of task registration and robot models from user input

Thibault Poignonec , Florent Nageotte , Nabil Zemiti , Bernard Bayle
ACM Transactions on Human-Robot Interaction, 2024, ⟨10.1145/3702246⟩
Article dans une revue lirmm-04763338 v1
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Design and 3D printing of pelvis phantoms for cementoplast

Cléa Sieffert , Laurence Meylheuc , Bernard Bayle , Julien Garnon
Medical Physics, In press, ⟨10.1002/mp.17560⟩
Article dans une revue hal-04815458 v1

Skin-stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task

Charlélie Saudrais , Bernard Bayle , Marie-Aude Vitrani , Fabien Vérité
IEEE Transactions on Haptics (ToH), 2024, ⟨10.1109/TOH.2024.3363422⟩
Article dans une revue hal-04484858 v1
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Exact derivative propagation method to compute the generalized compliance matrix for continuum robots: Application to concentric tubes continuum robots

Guillaume Lods , Benoit Rosa , Bernard Bayle , Florent Nageotte
Mechanism and Machine Theory, 2024, 200, pp.105696. ⟨10.1016/j.mechmachtheory.2024.105696⟩
Article dans une revue hal-04626541 v1

3D-mapping of TMS effects with automatic robotic placement improved reliability and the risk of spurious correlation

Ludovic Dormegny-Jeanjean , Lionel Landré , Clément de Crespin de Billy , Olivier Mainberger , Alexandre Obrecht et al.
Journal of Neuroscience Methods, 2022, 381, ⟨10.1016/j.jneumeth.2022.109689⟩
Article dans une revue hal-04048445 v1
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Robot-Assisted Bone Cement Injection

Nicole Neumann , Laurence Meylheuc , Laurent Barbé , Julien Garnon , Guillaume Koch et al.
IEEE Transactions on Biomedical Engineering, 2022, 69 (1), pp.138-147. ⟨10.1109/TBME.2021.3088347⟩
Article dans une revue hal-03402930 v1
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EMG-Based Variable Impedance Control With Passivity Guarantees for Collaborative Robotics

Maciej Bednarczyk , Hassan Omran , Bernard Bayle
IEEE Robotics and Automation Letters, 2022, 7 (2), pp.4307 - 4312. ⟨10.1109/lra.2022.3149575⟩
Article dans une revue hal-04632492 v1

EMG-based Variable Impedance Control with Passivity Guarantees for Collaborative Robotics

Maciej Bednarczyk , Hassan Omran , Bernard Bayle
IEEE Robotics and Automation Letters, 2022, 7 (2), ⟨10.1109/LRA.2022.3149575⟩
Article dans une revue hal-03797697 v1

PMMA Bone Cement in Interventional Oncology

Julien Garnon , Laurence Meylheuc , Jack W. Jennings , Guillaume Koch , Roberto Luigi Cazzato et al.
Critical Reviews in Biomedical Engineering, 2021, 49 (1), pp.35-50. ⟨10.1615/CritRevBiomedEng.2021037591⟩
Article dans une revue hal-03981676 v1
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Inverted Honeycomb Cell as a Reinforcement Structure for Building Soft Pneumatic Linear Actuators

François Schmitt , Olivier Piccin , Pierre Renaud , Bernard Bayle , Laurent Barbé
Journal of Mechanisms and Robotics, 2021, 13 (1), ⟨10.1115/1.4048834⟩
Article dans une revue hal-04257184 v1

Cement plug fragmentation following percutaneous cementoplasty of the bony pelvis; is it a frequent finding in clinical practice?

Julien Garnon , Laurence Meylheuc , P. de Marini , Guillaume Koch , Roberto Luigi Cazzato et al.
CardioVascular and Interventional Radiology, 2021, 44, ⟨10.1007/s00270-020-02715-y⟩
Article dans une revue hal-03254578 v1

Biomechanics of the Osseous Pelvis and Its Implication for Consolidative Treatments in Interventional Oncology

Julien Garnon , Jack W. Jennings , Laurence Meylheuc , Pierre Auloge , Julia Weiss et al.
CardioVascular and Interventional Radiology, 2020, Non-Vascular Interventions, 43 (11), pp.1589-1599. ⟨10.1007/s00270-020-02624-0⟩
Article dans une revue hal-03968852 v1

Subjective Analysis of the Filling of an Acetabular Osteolytic Lesion Following Percutaneous Cementoplasty: Is It Reliable?

Julien Garnon , Laurence Meylheuc , Pierre de Marini , Pierre Auloge , Theo Mayer et al.
CardioVascular and Interventional Radiology, 2020, 43 (3), pp.445-452. ⟨10.1007/s00270-019-02397-1⟩
Article dans une revue hal-04250691 v1
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Percutaneous extra-spinal cementoplasty in patients with cancer: A systematic review of procedural details and clinical outcomes

Julien Garnon , Laurence Meylheuc , Roberto Luigi Cazzato , Danoob Dalili , Guillaume Koch et al.
Diagnostic and Interventional Imaging, 2019, 100 (12), pp.743-752. ⟨10.1016/j.diii.2019.07.005⟩
Article dans une revue hal-04247048 v1
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Continuous Injection of Large Volumes of Cement Through a Single 10G Vertebroplasty Needle in Cases of Large Osteolytic Lesions

Julien Garnon , Laurence Meylheuc , Pierre Auloge , Guillaume Koch , Danoob Dalili et al.
CardioVascular and Interventional Radiology, 2019, 43 (4), pp.658-661. ⟨10.1007/s00270-019-02389-1⟩
Article dans une revue hal-04250666 v1
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Soft Robots Manufacturing : a Review

François Schmitt , Olivier Piccin , Laurent Barbé , Bernard Bayle
Frontiers in Robotics and AI, 2018, 5, pp.84. ⟨10.3389/frobt.2018.00084⟩
Article dans une revue hal-03008794 v1
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Automatic planning of needle placement for robot-assisted percutaneous procedures

Esia Belbachir , Ehsan Golkar , Bernard Bayle , Caroline Essert
International Journal of Computer Assisted Radiology and Surgery, 2018, 13 (9), ⟨10.1007/s11548-018-1754-2⟩
Article dans une revue hal-04885036 v1

Bone cement modeling for percutaneous vertebroplasty

Nicole Lepoutre , Laurence Meylheuc , Gabriela Bara Iuliana , Laurent Barbé , Bernard Bayle
Journal of Biomedical Materials Reserach Part B Applied Biomaterials, 2018, 107 (5), pp.1504-1515. ⟨10.1002/jbm.b.34242⟩
Article dans une revue hal-04599730 v1
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Control of cable-driven manipulators in the presence of friction

Salih Abdelaziz , Laurent Barbé , Pierre Renaud , Michel de Mathelin , Bernard Bayle
Mechanism and Machine Theory, 2017, 107, pp.139-147. ⟨10.1016/j.mechmachtheory.2016.09.014⟩
Article dans une revue lirmm-01878600 v1
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La robotique au service de la stimulation magnétique transcrânienne (TMS)

Romuald Ginhoux , Bernard Bayle , Pierre Renaud
Neurophysiologie Clinique = Clinical Neurophysiology, 2016, 46 (2), pp.85. ⟨10.1016/j.neucli.2016.05.049⟩
Article dans une revue hal-04240015 v1
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Design and Modeling of a Polymer Force Sensor

Nitish Kumar , Olivier Piccin , Laurence Meylheuc , Laurent Barbe , Bernard Bayle
IEEE/ASME Transactions on Mechatronics, 2015, 21 (1), pp.555-564. ⟨10.1109/TMECH.2015.2448662⟩
Article dans une revue hal-02320641 v1

A task-based type synthesis of novel 2T2R parallel mechanisms

Nitish Kumar , Olivier Piccin , Bernard Bayle
Mechanism and Machine Theory, 2014, pp.59-72. ⟨10.1016/j.mechmachtheory.2014.02.007⟩
Article dans une revue hal-04247036 v1

Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods

Salih Abdelaziz , Laure Esteveny , Laurent Barbé , Pierre Renaud , Bernard Bayle et al.
Journal of Mechanical Design, 2014, 136 (9), pp.091006. ⟨10.1115/1.4027783⟩
Article dans une revue lirmm-01349877 v1
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Design and Development of a Robotized System Coupled to µCT Imaging for Intratumoral Drug Evaluation in a HCC Mouse Model

Gaétan Bour , Fernand Martel , Laurent Goffin , Bernard Bayle , Jacques Gangloff et al.
PLoS ONE, 2014, 9 (9), pp.e106675. ⟨10.1371/journal.pone.0106675⟩
Article dans une revue hal-04965237 v1

Design and In Vivo Evaluation of a Robotized Needle Insertion System for Small Animals

Laurent Goffin , Gaëtan Bour , Fernand Martel , Stéphane Nicolau , Jacques Gangloff et al.
IEEE Transactions on Biomedical Engineering, 2013, 60 (8), pp.2193-2204. ⟨10.1109/TBME.2013.2243728⟩
Article dans une revue hal-05000364 v1

Design considerations for a novel MRI compatible manipulator for prostate cryoablation

Salih Abdelaziz , Laure Esteveny , Pierre Renaud , Bernard Bayle , Laurent Barbé et al.
International Journal of Computer Assisted Radiology and Surgery, 2011, 6, pp.811-819. ⟨10.1007/s11548-011-0558-4⟩
Article dans une revue istex hal-03931884 v1

Modeling and evaluation of low cost force sensors

Cyrille Lebossé , Pierre Renaud , Bernard Bayle , Michel de Mathelin
IEEE Transactions on Robotics, 2011, 27 (4), pp.815-822. ⟨10.1109/TRO.2011.2119850⟩
Article dans une revue hal-03931885 v1

Design and Evaluation of a Robotic System for Transcranial Magnetic Stimulation

Lucile Zorn , Pierre Renaud , Bernard Bayle , Laurent Goffin , Cyrille Lebosse et al.
IEEE Transactions on Biomedical Engineering, 2011, 59 (3), pp.805-815. ⟨10.1109/TBME.2011.2179938⟩
Article dans une revue hal-03931883 v1
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Auto-Tuning of Model Predictive Control for Bilateral Teleoperation with Bayesian Optimization

Fadi Alyousef Almasalmah , Hassan Omran , Chao Liu , Thibault Poignonec , Bernard Bayle
CPHS 2024 - 5th IFAC Workshop on Cyber-Physical and Human Systems, Dec 2024, Antalya (TR), Turkey
Communication dans un congrès lirmm-04795634 v1

Patient-specific modeling of the mechanical restoration using cement and screw fixation in pelvic oncology

Cléa Sieffert , Laurence Meylheuc , Bernard Bayle , Julien Garnon
29th Congress of the European Society of Biomechanics taking place in Edinburgh, Scotland from 30th June to 3rd July 2024, 2024, Edimbourg, United Kingdom
Communication dans un congrès hal-04815457 v1
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Force Sensing along Continuum Robots using Compliance Matrix and Shape Acquisition

Guillaume Lods , Florent Nageotte , Bernard Bayle , Benoit Rosa
Hamlyn Symposium on Medical Robotics, Londres, United Kingdom, juin 2024, Jun 2024, Londres, United Kingdom
Communication dans un congrès hal-04691006 v1

Parsimonious technologies for sensing upper limb muscles activation

Mahrukh Azhar , Beatrice Luciani , Maciej Bednarczyk , Benoit Wach , Marta Gandolla et al.
IEEE International conference on Metrology for eXtended Reality, Artificial Intelligence and Neural Engineering (IEEE MetroXRAINE 2023), Oct 2023, Milano, Italy. ⟨10.1109/MetroXRAINE58569.2023.10405812⟩
Communication dans un congrès hal-04198209 v1
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Adaptive Robust Model Predictive Control for Bilateral Teleoperation

Fadi Alyousef Almasalmah , Hassan Omran , Chao Liu , Bernard Bayle
IROS 2023 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2023, Detroit, United States. pp.7069-7074, ⟨10.1109/IROS55552.2023.10341847⟩
Communication dans un congrès lirmm-04287699 v1

A Fading Memory Discontinuous EKF for the Online Model Identification of Cable-Driven Robots with Backlash

Thibault Poignonec , Florent Nageotte , Bernard Bayle
ACC 2023 - American Conference on Control, May 2023, San Diego, United States. pp.949-953, ⟨10.23919/ACC55779.2023.10156285⟩
Communication dans un congrès hal-04126005 v1
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End-of-instrument Stiffness Perception Device Based on Sensory Augmentation for Laparoscopic Surgery

Charlélie Saudrais , Bernard Bayle , Marie-Aude Vitrani , Fabien Verité
Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Naples, Italy. https://cras-eu.org/wp-content/uploads/2022/04/CRAS22_proceedings.pdf
Communication dans un congrès hal-03987916 v1

Towards autonomous robot assisted medical interventions

Bernard Bayle
Europe-Korea Conference on Science and Technology (EKC), special session Intelligent robots and human models for health and medicine, 19-22 July 2022, Marseille, France, Jul 2022, Marseille, France
Communication dans un congrès hal-04048447 v1

Rate Mode Bilateral Teleoperation Based on Passivity Tanks and Variable Admittance Control

Charlélie Saudrais , Laurent Barbe , Bernard Bayle
2021 IEEE International Conference on Robotics and Automation (ICRA), Jun 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561813⟩
Communication dans un congrès hal-03433796 v1

Design and control of advanced manipulation systems in medical robotics

Bernard Bayle
Workshop "Dexterous manipulation in the real-contact context: new progress and challenges", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, République Tchèque, septembre 2021, Sep 2021, Prague, Czech Republic
Communication dans un congrès hal-03797896 v1
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Shared control strategy for needle insertion into deformable tissue using inverse Finite Element simulation

Paul Baksic , Hadrien Courtecuisse , Bernard Bayle
ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi’an / Virtual, China
Communication dans un congrès hal-03191078 v1
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Simultaneous haptic guidance and learning of task parameters during robotic teleoperation

Thibault Poignonec , Florent Nageotte , Nabil Zemiti , Bernard Bayle
ICRA 2021 - 38th IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China. pp.3619-3625, ⟨10.1109/ICRA48506.2021.9560938⟩
Communication dans un congrès lirmm-03251658 v1
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Passivity filter for variable impedance control

Maciej Bednarczyk , Hassan Omran , Bernard Bayle
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),, 2020, Las Vegas, United States. ⟨10.1109/IROS45743.2020.9340758⟩
Communication dans un congrès hal-04332573 v1
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Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulation

Paul Baksic , Hadrien Courtecuisse , Christian Duriez , Bernard Bayle
ICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. pp.2407-2413, ⟨10.1109/ICRA40945.2020.9197515⟩
Communication dans un congrès hal-02503574 v1
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Model Predictive Impedance Control

Maciej Bednarczyk , Hassan Omran , Bernard Bayle
2020 International Conference on Robotics and Automation (ICRA), 31 Mai 2020 - 31 Août 2020, Paris, France, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9196969⟩
Communication dans un congrès hal-04330309 v1
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FEM-based confidence assessment of non-rigid registration

Paul Baksic , Hadrien Courtecuisse , Matthieu Chabanas , Bernard Bayle
Surgetica 2019, 2019, Rennes, France
Communication dans un congrès hal-02238974 v1
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An Origami-Inspired Flexible Pneumatic Actuator

François Schmitt , Olivier Piccin , Laurent Barbé , Bernard Bayle
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct 2018, Madrid, Spain. pp.436-441, ⟨10.1109/IROS.2018.8593423⟩
Communication dans un congrès hal-04247039 v1

Percutaneous Osteoplasty

Julien Garnon , Laurence Meylheuc , Bernard Bayle , Afshin Gangi
Surgetica 2019, Jun 2019, Rennes, France
Communication dans un congrès hal-04833111 v1
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Linear Parameter-Varying Identification of the EMG–Force Relationship of the Human Arm

Mattia Pesenti , Ziad Alkhoury , Maciej Bednarczyk , Hassan Omran , Bernard Bayle
28th IEEE International Conference on Robot and Human Interactive Communication, Oct 2019, New Delhi, India. ⟨10.1109/RO-MAN46459.2019.8956388⟩
Communication dans un congrès hal-03513646 v1
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Using Comanipulation with Active Force Feedback to Undistort Stiffness Perception in Laparoscopy

François Schmitt , Josue Sulub , Ignacio Avellino , Jimmy da Silva , Laurent Barbé et al.
2019 International Conference on Robotics and Automation (ICRA), May 2019, Montréal, Canada. ⟨10.1109/ICRA.2019.8793662⟩
Communication dans un congrès hal-02343485 v1

Force feedback compensation of the stiffness perception in collaborative robotic laparoscopic surgery

François Schmitt , Olivier Piccin , Laurent Barbé , Guillaume Morel , Bernard Bayle
Journée Labex CAMI 2018, 8-9 novembre 2018, Nov 2018, brest, France
Communication dans un congrès hal-04700771 v1
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Hybrid Soft/Rigid Robots for medical applications

François Schmitt , Olivier Piccin , Laurent Barbé , Bernard Bayle
Continuum and Soft Robotics for Medical Interventions Workshop - IROS 2018, Oct 2018, Madrid, Spain
Communication dans un congrès hal-04679517 v1

Robot-Assisted Bone Cement Injection

Nicole Lepoutre , Laurence Meylheuc , Gabriela Bara , François Schmitt , Laurent Barbé et al.
Surgetica 2017, Nov 2017, Strasbourg, France
Communication dans un congrès hal-04832556 v1

Design and control of a thermal device for bone cement injection

Nicole Lepoutre , G.I. Bara , Laurence Meylheuc , François Schmitt , Laurent Barbé et al.
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Jun 2016, Singapore, Singapore. pp.508-513, ⟨10.1109/BIOROB.2016.7523677⟩
Communication dans un congrès hal-04828706 v1

Design and characterization of a novel needle insertion tool

Olivier Piccin , Jérôme Sieffert , François Schmitt , Laurent Barbé , Laurence Meylheuc et al.
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Jun 2016, Singapore, Singapore. pp.266-271, ⟨10.1109/BIOROB.2016.7523636⟩
Communication dans un congrès hal-04828690 v1

Design, development and preliminary assessment of a force sensor for robotized medical applications

Nitish Kumar , Olivier Piccin , Laurence Meylheuc , Laurent Barbé , Bernard Bayle
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2014, Besacon, France. pp.1368-1374, ⟨10.1109/AIM.2014.6878273⟩
Communication dans un congrès hal-04828722 v1
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Compliant grasping device for robotized medical applications

Nitish Kumar , Olivier Piccin , Laurence Meylheuc , Laurent Barbé , Bernard Bayle
CFM 2013 - 21ème Congrès Français de Mécanique, Aug 2013, Bordeaux, France
Communication dans un congrès hal-03442416 v1

Robotic assistance in coil positioning improves reliability and comfort

Jack Foucher , Kevin Lorgouilloux , J. Turek , Bich-Thuy Pham , Julien Elowe et al.
3rd Annual meeting of the German Society for Brain Stimulation - Modulating Emotions, Berlin, Germany, juin 2012, Jun 2012, Berlin, Germany
Communication dans un congrès hal-04060015 v1
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Dévelopement d'un système robotique pour la cryothérapie de la prostate

Salih Abdelaziz , Laure Esteveny , Pierre Renaud , Bernard Bayle , Michel de Mathelin
CFM 2011 - 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France
Communication dans un congrès hal-03422582 v1
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A robotized needle insertion device for percutaneous procedures

Olivier Piccin , Pierre Renaud , Laurent Barbé , Bernard Bayle , Benjamin Maurin et al.
2005 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : September 24-28, 2005, Long Beach, California, USA, Sep 2005, Long Beach, France. pp.433-440, ⟨10.1115/DETC2005-84577⟩
Communication dans un congrès hal-04012583 v1

Fully Automated Image-Guided Needle Insertion: Application to small animal biopsies

Ali Ayadi , Gaetan Bour , Marc Aprahamian , Bernard Bayle , Pierre Graebling et al.
29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Aug 2007, Lyon, France. pp.194-197, ⟨10.1109/IEMBS.2007.4352256⟩
Communication dans un congrès hal-04098696 v1

Online Robust Model Estimation and Haptic Clues Detection during In Vivo Needle Insertions

Laurent Barbé , Bernard Bayle , Michel de Mathelin , Afshin Gangi
The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., Feb 2006, Pise, Italy. pp.341-346, ⟨10.1109/BIOROB.2006.1639110⟩
Communication dans un congrès hal-04881936 v1

Needle tip positioning on the abdomen with a novel stereotaxic robotic assistant

Benjamin Maurin , Christophe Doignon , Jacques Gangloff , Bernard Bayle , Michel de Mathelin et al.
SURGETICA 2005: Computer-Aided Medical Interventions: tools and applications, 2005, inconnue, France
Communication dans un congrès hal-04058940 v1
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In Vivo Study of Forces During Needle Insertions

Benjamin Maurin , Laurent Barbé , Bernard Bayle , Philippe Zanne , Jacques Gangloff et al.
Scientific Workshop On Medical Robotics, Navigation And Visualization : RheinAhrCampus Remagen, Germany, 11-12 March 2004, Mar 2004, Remagen, Germany. pp.415-422, ⟨10.1142/9789812702678_0056⟩
Communication dans un congrès hal-04012586 v1

Interaction Modeling and Force Control

Philippe Poignet , Bernard Bayle
Jocelyne Troccaz. Medical Robotics, John Wiley, pp.233-267, 2012, 978-1-84821-334-0
Chapitre d'ouvrage lirmm-00678558 v1