Bernard Bayle

91
Documents

Présentation

B. Bayle est professeur à l’Université de Strasbourg et membre du laboratoire ICube, au sein du groupe de recherche « Robotique, Science des données et Technologies pour la santé » (plus de 80 membres), dont il a été responsable de 2018 à 2023. Il a fondé l’Institut interdisciplinaire HealthTech en 2021 et l’a coordonné jusqu’en 2025 (plus de 200 membres, 14 partenaires). Ses recherches portent sur la conception, la modélisation et la commande des systèmes robotiques, en particulier pour l’interaction physique homme-robot et les applications de la robotique en santé. Il a été porteur de six projets de recherche et a participé à onze autres, et il a encadré dix-huit doctorants. Il est auteur de plus de cent publications scientifiques en robotique, génie mécanique et génie biomédical. Il est également inventeur de quatre brevets délivrés, dont l’un a été exploité commercialement par Axilum Robotics, société qu’il a cofondée en 2011. En 2017, il a été professeur invité à Politecnico Milano et chercheur invité au NEARLab. Depuis janvier 2025, il est chercheur invité à l’IRI (CSIC-UPC) à Barcelone, où il étudie les liens entre problématiques d’apprentissage et de commande dans l’interaction physique homme-robot.


Publications

Publications

Deposit thumbnail

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-04738032v2
Deposit thumbnail

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-04763338v1
Deposit thumbnail

Design and 3D printing of pelvis phantoms for cementoplast

Cléa Sieffert , Laurence Meylheuc , Bernard Bayle , Julien Garnon

Medical Physics : The international journal of medical physics research and practice, 2024, 52 (3), pp.1454-1467. ⟨10.1002/mp.17560⟩

Article dans une revue hal-04815458v1

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-04484858v1
Deposit thumbnail

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-04626541v1

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-04048445v1
Deposit thumbnail

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-03402930v1
Deposit thumbnail

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-04632492v1

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-03981676v1
Deposit thumbnail

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-04257184v1

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-03254578v1

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-04250691v1

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-03968852v1
Deposit thumbnail

Percutaneous image-guided double oblique anterior approach to the acetabulum for cementoplasty

J. Garnon , P. de Marini , L. Meylheuc , D. Dalili , R.L. Cazzato et al.

Clinical Radiology, 2020, 75, pp.964.e7 - 964.e12. ⟨10.1016/j.crad.2020.09.001⟩

Article dans une revue hal-03492620v1
Deposit thumbnail

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-04247048v1
Deposit thumbnail

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-04250666v1
Deposit thumbnail

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-03008794v1
Deposit thumbnail

Bone cement modeling for percutaneous vertebroplasty

Nicole Lepoutre , Laurence Meylheuc , Gabriela Bara Iuliana , Laurent Barbé , Bernard Bayle

Journal of Biomedical Materials Research Part B: Applied Biomaterials, 2018, 107 (5), pp.1504-1515. ⟨10.1002/jbm.b.34242⟩

Article dans une revue hal-04599730v1
Deposit thumbnail

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-04885036v1
Deposit thumbnail

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-01878600v1
Deposit thumbnail

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-04240015v1
Deposit thumbnail

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-02320641v1

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-01349877v1

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-04247036v1
Deposit thumbnail

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-04965237v1

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-05000364v1

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-03931884v1

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-03931885v1

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-03931883v1
Deposit thumbnail

Stiffness Perception Device Based on Skin-Stretch for Laparoscopic Surgery: Radial Palpation and Influence of the Fulcrum Effect

Charlélie Saudrais , Bernard Bayle , Doris da Silva , Marie-Aude Vitrani , Fabien Vérité

2025 IEEE World Haptics Conference (WHC), Jul 2025, Suwon, South Korea. pp.243-254, ⟨10.1109/WHC64065.2025.11123259⟩

Communication dans un congrès hal-05280392v1
Deposit thumbnail

Passivity Filters for Bilateral Teleoperation with Variable Impedance Control

Fadi Alyousef Almasalmah , Thibault Poignonec , Hassan Omran , Chao Liu , Bernard Bayle

ICRA 2025 - IEEE International Conference on Robotics & Automation, May 2025, Atlanta, GA, United States. ⟨10.1109/ICRA55743.2025.11128576⟩

Communication dans un congrès hal-05156618v1
Deposit thumbnail

Restauration mécanique par vissage et cimentoplastie d'un bassin métastasé

Cléa Sieffert , Laurence Meylheuc , Bernard Bayle , Julien Garnon

26e Congrès Français de Mécanique, Laboratoire d'Etude des Microstructures et de Mécanique des Matériaux (LEM3 - UMR CNRS 7239), Aug 2025, Metz, France

Communication dans un congrès hal-05313127v1

Performance of Skin Stretch Haptic Feedback Augmentation for Laparoscopic Surgery in a Realistic Palpation Task

Charlélie Saudrais , Doris da Silva , Bernard Bayle , Marie-Aude Vitrani , Fabien Vérité

2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Sep 2024, Heidelberg, Germany. pp.964-970, ⟨10.1109/BioRob60516.2024.10719837⟩

Communication dans un congrès hal-04881930v1
Deposit thumbnail

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-04795634v1
Deposit thumbnail

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-04691006v1

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-04815457v1

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-04198209v1
Deposit thumbnail

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-04287699v1

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-04126005v1
Deposit thumbnail

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-03987916v1

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-04048447v1

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-03797896v1
Deposit thumbnail

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-03191078v1

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-03433796v1
Deposit thumbnail

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-03251658v1
Deposit thumbnail

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-04332573v1
Deposit thumbnail

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-02503574v1
Deposit thumbnail

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-04330309v1
Deposit thumbnail

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-03513646v1

Percutaneous Osteoplasty

Julien Garnon , Laurence Meylheuc , Bernard Bayle , Afshin Gangi

Surgetica 2019, Jun 2019, Rennes, France

Communication dans un congrès hal-04833111v1
Deposit thumbnail

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-02238974v1
Deposit thumbnail

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-04247039v1
Deposit thumbnail

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-02343485v1
Deposit thumbnail

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-04679517v1

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-04700771v1

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-04832556v1

Robotically assisted injection of orthopedic cement: System design, control and modeling

N. Lepoutre , R. Aleluia Porto , L. Meylheuc , G. Bara , F. Schmitt et al.

2016 European Control Conference (ECC), Jun 2016, Aalborg, Denmark. pp.2127-2132, ⟨10.1109/ECC.2016.7810606⟩

Communication dans un congrès hal-04831243v1

Caractérisation de l'injection de ciment orthopédique pou la vertébroplastie

Nicole Lepoutre , Laurence Meylheuc , Gabriela Bara Iuliana , François Schmitt , Laurent Barbé et al.

4ème journée scientifique de la FMTS, Apr 2016, Strasbourg, France

Communication dans un congrès hal-05396123v1

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-04828706v1

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-04828690v1

Robotic assistance for percutaneous procedures

Bernard Bayle

First European Workshop of Medtech Alsace, Nov 2016, Strasbourg, France

Communication dans un congrès hal-05510515v1

Robotique d'assistance aux procédures percutanées

Afshin Gangi , Bernard Bayle

Journées France Life Imaging WP3 Imagerie Interventionnelle, Journées Françaises de la Radiologie, Dec 2016, Lyon, France

Communication dans un congrès hal-05515129v1

Phase space identification method for modeling the viscosity of bone cement

N. Lepoutre , G. Bara , L. Meylheuc , B. Bayle

2016 European Control Conference (ECC), Jun 2016, Aalborg, Denmark. pp.2404-2409, ⟨10.1109/ECC.2016.7810650⟩

Communication dans un congrès hal-04831068v1

Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelle

N. Lepoutre , L. Meylheuc , G. Bara , B. Bayle

Journée des Jeunes Chercheurs en Robotique (JJCR), 2015, Amiens, France

Communication dans un congrès hal-05489127v1

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-04828722v1

A novel actuation technology for safe physical human-robot interactions

L. Esteveny , L. Barbé , B. Bayle

IEEE International Conference on Robotics and Automation, 2014, Hong-Kong, China

Communication dans un congrès hal-05403716v1

A Custom Robot for Transcranial Magnetic Stimulation: First Assessment on Healthy Subjects

R. Ginhoux , P. Renaud , L. Zorn , L. Goffin , B. Bayle et al.

35th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013, Osaka, Japan. pp.5352--5355

Communication dans un congrès hal-05395140v1
Deposit thumbnail

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-03442416v1

Nouvel actionnement pour des interactions homme-robot plus sûres

L. Esteveny , L. Barbé , B. Bayle

5èmes Journées Doctorales / Journées Nationales MACS, 2013, Strasbourg, France

Communication dans un congrès hal-05394893v1

Development of a MR-compatible cable-driven manipulator: Design and technological issues

Salih Abdelaziz , Laure Esteveny , Laurent Barbé , Pierre Renaud , Bernard Bayle et al.

2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, St Paul, France. pp.1488-1494, ⟨10.1109/ICRA.2012.6225302⟩

Communication dans un congrès hal-04828762v1

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-04060015v1

Design and Optimization of a Novel MRI Compatible Wire-Driven Robot for Prostate Cryoablation

S. Abdelaziz , L. Esteveny , P. Renaud , B. Bayle , M. de Mathelin

ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2011, Washington, United States. pp.633-642, ⟨10.1115/DETC2011-48092⟩

Communication dans un congrès hal-04828714v1
Deposit thumbnail

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-03422582v1
Deposit thumbnail

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-04012583v1

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-04098696v1

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-04881936v1

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-04058940v1
Deposit thumbnail

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-04012586v1
Deposit thumbnail

HAPTIC INTERFACE FOR NEEDLE INSERTION TRAINING

Carlos G Muniz Simões , Luis Maldonado , Florent Nageotte , Bernard Bayle , Baptiste Gomes de Sousa et al.

Conference on New Technologies for Computer and Robot-Assisted Surgery (CRAS), Sep 2025, Lisbonne, Portugal. 2025

Proceedings/Recueil des communications hal-05468014v1

Variable stiffness mechanism in robotized interventional radiology

L. Esteveny , L. Barbé , B. Bayle

Philippe Wenger, Christine Chevallereau, Doina Pisla, Hannes Bleuler, Aleksandar Rodić. New Trends in Medical and Service Robots, 39, Springer, pp.45-58, 2016, Mechanisms and Machine Science, 978-3-319-30674-2. ⟨10.1007/978-3-319-30674-2_4⟩

Chapitre d'ouvrage hal-05391278v1

Robot interaction control in medicine and surgery. Open problems and recent results.

B. Bayle , M. Joinie-Maurin , L. Barbé , J. Gangloff , M. de Mathelin

M. Garbey. Computational Surgery and Dual Training, Springer, pp.169--191, 2014

Chapitre d'ouvrage hal-05404434v1

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-00678558v1