Bernard Bayle

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

Article dans une revue (29)

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
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, 17 (4), pp.578-590. ⟨10.1109/TOH.2024.3363422⟩ Article dans une revue hal-04484858v1
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
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
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
Robot-Assisted Bone Cement Injection Nicole Neumann,Laurence Meylheuc,Laurent Barbé,Julien Garnon,Guillaume Kochet al. IEEE Transactions on Biomedical Engineering, 2022, 69 (1), pp.138-147. ⟨10.1109/TBME.2021.3088347⟩ Article dans une revue hal-03402930v1
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 Obrechtet al. Journal of Neuroscience Methods, 2022, 381, ⟨10.1016/j.jneumeth.2022.109689⟩ Article dans une revue hal-04048445v1
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
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
PMMA Bone Cement in Interventional Oncology Julien Garnon,Laurence Meylheuc,Jack W. Jennings,Guillaume Koch,Roberto Luigi Cazzatoet al. Critical Reviews in Biomedical Engineering, 2021, 49 (1), pp.35-50. ⟨10.1615/CritRevBiomedEng.2021037591⟩ Article dans une revue hal-03981676v1
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 Cazzatoet al. CardioVascular and Interventional Radiology, 2021, 44, ⟨10.1007/s00270-020-02715-y⟩ Article dans une revue hal-03254578v1
Biomechanics of the Osseous Pelvis and Its Implication for Consolidative Treatments in Interventional Oncology Julien Garnon,Jack W. Jennings,Laurence Meylheuc,Pierre Auloge,Julia Weisset 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
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 Mayeret al. CardioVascular and Interventional Radiology, 2020, 43 (3), pp.445-452. ⟨10.1007/s00270-019-02397-1⟩ Article dans une revue hal-04250691v1
Percutaneous image-guided double oblique anterior approach to the acetabulum for cementoplasty J. Garnon,P. de Marini,L. Meylheuc,D. Dalili,R.L. Cazzatoet al. Clinical Radiology, 2020, 75, pp.964.e7 - 964.e12. ⟨10.1016/j.crad.2020.09.001⟩ Article dans une revue hal-03492620v1
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 Kochet al. Diagnostic and Interventional Imaging, 2019, 100 (12), pp.743-752. ⟨10.1016/j.diii.2019.07.005⟩ Article dans une revue hal-04247048v1
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 Daliliet al. CardioVascular and Interventional Radiology, 2019, 43 (4), pp.658-661. ⟨10.1007/s00270-019-02389-1⟩ Article dans une revue hal-04250666v1
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
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
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
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
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
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
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 istex hal-04247036v1
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 Bayleet al. Journal of Mechanical Design, 2014, 136 (9), pp.091006. ⟨10.1115/1.4027783⟩ Article dans une revue lirmm-01349877v1
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 Gangloffet 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 Gangloffet 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 Barbéet 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 Lebosseet al. IEEE Transactions on Biomedical Engineering, 2011, 59 (3), pp.805-815. ⟨10.1109/TBME.2011.2179938⟩ Article dans une revue hal-03931883v1

Communication dans un congrès (49)

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
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
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
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
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
Parsimonious technologies for sensing upper limb muscles activation Mahrukh Azhar,Beatrice Luciani,Maciej Bednarczyk,Benoit Wach,Marta Gandollaet 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
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
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
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
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
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
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
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
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
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
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
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
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
Percutaneous Osteoplasty Julien Garnon,Laurence Meylheuc,Bernard Bayle,Afshin Gangi Surgetica 2019, Jun 2019, Rennes, France Communication dans un congrès hal-04833111v1
Using Comanipulation with Active Force Feedback to Undistort Stiffness Perception in Laparoscopy François Schmitt,Josue Sulub,Ignacio Avellino,Jimmy da Silva,Laurent Barbéet al. 2019 International Conference on Robotics and Automation (ICRA), May 2019, Montréal, Canada. ⟨10.1109/ICRA.2019.8793662⟩ Communication dans un congrès hal-02343485v1
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 Barbéet al. Surgetica 2017, Nov 2017, Strasbourg, France Communication dans un congrès hal-04832556v1
Robotic assistance for percutaneous procedures Bernard Bayle First European Workshop of Medtech Alsace, Nov 2016, Strasbourg, France Communication dans un congrès hal-05510515v1
Design and characterization of a novel needle insertion tool Olivier Piccin,Jérôme Sieffert,François Schmitt,Laurent Barbé,Laurence Meylheucet 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
Design and control of a thermal device for bone cement injection Nicole Lepoutre,G.I. Bara,Laurence Meylheuc,François Schmitt,Laurent Barbéet 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
Caractérisation de l'injection de ciment orthopédique pou la vertébroplastie Nicole Lepoutre,Laurence Meylheuc,Gabriela Bara Iuliana,François Schmitt,Laurent Barbéet al. 4ème journée scientifique de la FMTS, Apr 2016, Strasbourg, France Communication dans un congrès hal-05396123v1
Robotically assisted injection of orthopedic cement: System design, control and modeling N. Lepoutre,R. Aleluia Porto,L. Meylheuc,G. Bara,F. Schmittet al. 2016 European Control Conference (ECC), Jun 2016, Aalborg, Denmark. pp.2127-2132, ⟨10.1109/ECC.2016.7810606⟩ Communication dans un congrès hal-04831243v1
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. Bayleet 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
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
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
Development of a MR-compatible cable-driven manipulator: Design and technological issues Salih Abdelaziz,Laure Esteveny,Laurent Barbé,Pierre Renaud,Bernard Bayleet 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 Eloweet 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
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
A robotized needle insertion device for percutaneous procedures Olivier Piccin,Pierre Renaud,Laurent Barbé,Bernard Bayle,Benjamin Maurinet 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 Graeblinget 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 Mathelinet al. SURGETICA 2005: Computer-Aided Medical Interventions: tools and applications, 2005, inconnue, France Communication dans un congrès hal-04058940v1
In Vivo Study of Forces During Needle Insertions Benjamin Maurin,Laurent Barbé,Bernard Bayle,Philippe Zanne,Jacques Gangloffet 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

Proceedings/Recueil des communications (1)

HAPTIC INTERFACE FOR NEEDLE INSERTION TRAINING Carlos G Muniz Simões,Luis Maldonado,Florent Nageotte,Bernard Bayle,Baptiste Gomes de Sousaet al. Conference on New Technologies for Computer and Robot-Assisted Surgery (CRAS), Sep 2025, Lisbonne, Portugal. 2025 Proceedings/Recueil des communications hal-05468014v1

Brevet (6)

Enveloppe Soleau&quot;: Phantom pelvis for cementoplasty Cléa Sieffert,Emerik Poursillien,Laurence Meylheuc,Julien Garnon,Bernard Bayle France, Patent n° : DSO2022003473. 2022 Brevet hal-04052259v1
Injection device of bone cement for percutaneous vertebroplasty François Schmitt,Laurence Meylheuc,Nicole Lepoutre,Bernard Bayle,Elie Lefeuvreet al. France, Patent n° : EP15305974. 2015 Brevet hal-04977034v1
Method for controlling the viscosity of orthopedic bone cement during its curing in percutaneous vertebroplasty Laurence Meylheuc,Nicole Lepoutre,Gabriela Bara Iuliana,Bernard Bayle France, Patent n° : EP15305975. 2015 Brevet hal-04977035v1
Device for grasping an elongated body such a needle, and robotized device comprising the same Olivier Piccin,Nitish Kumar,Laurence Meylheuc,Bernard Bayle,Laurent Barbéet al. France, Patent n° : WO/2014/02403. 2013 Brevet hal-04977033v1
Robotized installation for the positionning and movement of a component or instrument and treatment device that comprises such an installation Olivier Piccin,Cyrille Lebosse,Pierre Renaud,Bernard Bayle,Michel de Mathelin France, Patent n° : PCT/FR2007/051518 US Patent 8 303 478. 2012 Brevet hal-05473311v1
Robotic positioning and orientation device and needle holder comprising one such device Michel de Mathelin,Olivier Piccin,Jacques Gangloff,Bernard Bayle,Benjamin Maurin France, Patent n° : PCT/FR2005/002357 US patent 7,881,823. 2006 Brevet hal-05473366v1

Poster de conférence (2)

End-of-instrument stiffness perception device based on sensory augmentation for laparoscopic surgery Charlélie Saudrais,Bernard Bayle,Marie-Aude Vitrani,Fabien Vérité Eurohaptics 2022, San Diego, United States, janvier 2022, May 2022, Hambourg, Germany. , 2022 Poster de conférence hal-03926463v1
Perception and restitution of tissues’ stiffness in minimally invasive medical and surgical procedures François Schmitt,Olivier Piccin,Laurent Barbé,Guillaume Morel,Bernard Bayle Journée Labex CAMI 2016, Dec 2016, Paris, France. 2016 Poster de conférence hal-04700772v1

Chapitre d'ouvrage (3)

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. Joinié-Maurin,L. Barbé,J. Gangloff,M. de Mathelin M. Garbey. Computational Surgery and Dual Training. Computing, Robotics and Imaging, Springer; Springer New York, pp.169--191, 2014, 978-1-4614-8648-0. ⟨10.1007/978-1-4614-8648-0_11⟩ 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

Thèse (1)

Modélisation et commande cinématiques des manipulateurs mobiles à roues Bernard Bayle Robotique [cs.RO]. Université Toulouse III - Paul Sabatier, 2001. Français. ⟨NNT : 2001TOU30119⟩ Thèse tel-05032785v1