Nabil Zemiti
- Robotique médicale et mécanismes parallèles (LIRMM | DEXTER)
Présentation
Zemiti Nabil, Professeur des Universités
Université de Montpellier
Laboratoire LIRMM - UMR 5506 - Département Robotique
161 rue Ada 34095 - Montpellier - France
Bureau : 1.45 - case courrier : CC477
Phone: +33 4 67 41 86 78
Emails: nabil.zemiti@lirmm.fr nabil.zemit@umontpellier.fr
Team/Dep: DEXTER team - Robotics Department
Short Bio: Cliquez sur « Voir plus » pour développer cette section --->
Biographie courte (2025) est accessible en pdf en cliquant sur ce lien
I'm currently Professor at the Robotics Department of the LIRMM Lab., University of Montpellier (UM). My research and teaching interests are computer assisted medical interventions and sensor based control for robotic manipulators. In this topic, I serve as a guest lecturer at Central-Supélec since 2010. Since the beginning of my career (2008), I regularly supervises Master thesis and co-supervises Doctoral thesis and Post-docs. I'm also co-organizer with P. Poignet of the European Summer Schools in Surgical Robotics since 2013. Since 2017, I'm in charge of the surgical robotics translational research activities and platforms at the Medical School of Montpellier ROBMED. Since 2019, I'm deputy director of Labex Numev, member of the management-board of Labex CAMI (since 2012), member of the Scientific and Pedagogic Committee (CPS) and co-leader of the integrated project (IP) "Computer Assisted and Robotized Surgery " of Labex NUMEV (since 2016).
About my PhD Thesis
From October 2001 until September 2006, I was a Ph.D. student and researcher at the Robotics Lab. of Paris (LRP) - Paris 6 University, Paris, France, I great lab to work at!
The main results of this work are:
- Design of a force controlled laparoscopic surgical robot without distal force sensing ;
- Force control of kinematically constrained manipulators (defective robots) using the passivity approach ;
- Validation of the force control scheme during in-vivo and in-vitro experiments ;
- Force feedback teleoperation of the designed surgical robot.
About my Post-Doc
From October 2006 until August 2008, I was a Post doctoral Fellow at the TIMC-IMAG Laboratory (CAMI team) - Joseph Fourier University, Grenoble, France. Really a great lab to work at too!
Within the CAMI team, I was involved in several robotic projects, mainly in the area of interventional radiology and image guided percutaneous interventions.
The main results of these projects are:
- Design and control of a CT and MR-compatible puncture robot;
- Design of an Ultrasound-Guided Robotic Brachytherapy Needle-Insertion System.
Current research activities (Under construction)
Medical and surgical gestures guidance
Augmented Reality Assistance for Robotized Tumor Resection Gesture: applications to tongue-base and digestive surgeries
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PhD Thesis Jun Shen (2015-2019) - Labex CAMI
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Supervisors : Philippe Poignet & Nabil Zemiti & Jean-Louis Dillenseger (LTSI, Univ. Rennes)
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Medical Collaborators/Supervisors : Renaud Garrel PU-PH (ENT Department, CHU Montpellier) & Philippe Rouanet PU-PH (ICM Val d’Aurelle, Montpellier)
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Medical collaborators/Master students: L. Abramovici & A. Viquesnel (ENT Department, CHU Montpellier), Ch.Taoum (Cancer Institute of Montpellier - ICM Val d’Aurelle, Montpellier)
Optimisation of fusion Imaging for real-time US with CT for intra-cochlear navigation (OPTIFUSION Project 2018-2021)
- PhD Thesis Lucas Lavenir
- Funded by "Agir pour l'Audition" Foundation
- Supervisors: Philippe Poignet & Nabil Zemiti
- Medical collaborator/Supervisor: Frederic Venail, PU-PH, ENT Dep. CHU Montpellier
Robot-assisted Cranio-Maxillo-Facial surgery (MedMax1 & MedMax2 Projects 2017-2019)
- Funded by "Gueules Cassées" Foundation
- Supervisors: Philippe Poignet & Nabil Zemiti & Dr. M De Boutray
- Medical collaborators/Master students: Dr. A. Damécourt & Dr. M De Boutray (CMF Department– CHU Montpellier)
Robot-assisted and Augmented Reality-based Shoulder surgery
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Supervisors: Philippe Poignet, Nabil Zemiti & Gérard Subsol
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Medical Collaborator/Supervisor: Pr B. COULET, M.D; Ph.D (Service de Chirurgie de la Main, du Membre Supérieur
CHU Lapeyronie, UFR Médecine, UM)
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Medical collaborator/Master student: Dr. P-E Chammas (Resident in Orthopedic surgery - CHU Montpellier)
Artificial palpation elastography for increased perception in transoral tongue base cancer surgery
- PhD Thesis of Laure Koebel (I-Site Muse - UM) 2018-2021
- Supervisors: Yassine Haddab & Nabil Zemiti
- Medical Collaborator/Supervisor: Pr. Renaud Garrel, PU-PH, ENT Dep. CHU Montpellier
Gesture learning, training and evaluation
PhD Fabien Despinoy (CAMI Labex, Collaboration between LIRMM and LTSI Rennes)
- Unsupervised trajectory segmentation for surgical gesture recognition in robotic training
- Evaluation of Contactless Human-Machine Interface for Robotic Surgical Training
Post-doc Gustavo Gil (CAMI Labex, Collaboration between LIRMM and LTSI Rennes)
PhD mobility of Miss Juie Walker (Chateaubriand Fellowship Program) Collaboration with Pr. Allison Okamura (Charm Lab. Stanford Uni.) Sep 2017-March 2018
Design and control of medical devices
Robotized Flexible Ureteroscopy and Active Vision-Based Physiological Motion Compensation
- CIFRE PhD Thesis D. Cavard (2015/18)
- Supervisors : Philippe Poignet & Nabil Zemiti
- Medical Collaborators CHU Nîmes: Stéphane Droupy Armand Chevrot
- Industriel Partners: Sterlab (MxM Company)
- CE marked robot in May 2018
Main research projects (since 2008)
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ROBPRINT (DGA-Région Occitanie - 10/2023 - 09/2026)
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BLOCPRINT2 (ANR-Astrid maturation - 05/2021 - 05/2025)
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ROBECHO (FEDER - 0-1/2020 - 12/2021)
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OPTIFUSION (Fondation Agir pour l'audition - 09/2018 - 08/2021)
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MEDMAX1 & MEDMAX2 (Fondation des Gueules Cassées - 09/2017 - 09/2019)
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ROBACUS (ANR TecSan - 03/2012 - 08/2016)
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UScomp (ANR ContInt - 03/2009 - 02/2012 )
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Araknes (FP7 UE project - 05/2008 - 04/2012)
Domaines de recherche
Publications
Publications
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Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear ImplantationROBOSOFT 2024 - 7th IEEE-RAS International Conference on Soft Robotics, Apr 2024, San Diego, CA, United States. pp.492-497, ⟨10.1109/RoboSoft60065.2024.10521998⟩
Communication dans un congrès
lirmm-04660122
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Providing automatic formative feedback along surgical skill assessmentSPIE MEDICAL IMAGING 2024 - Image-Guided Procedures, Robotic Interventions, and Modeling, Feb 2024, San Diego, CA, United States. pp.72, ⟨10.1117/12.3006508⟩
Communication dans un congrès
lirmm-04548504
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Tendon-Driven vs Rod-Driven Continuum Robots: A Bench Test EvaluationCRAS 2024 - Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2024, Odense, Denmark
Communication dans un congrès
hal-04690807
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Direct TPS-based 3D non-rigid motion estimation on 3D colored point cloud in eye-in-hand configurationIROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates. pp.11581-11586, ⟨10.1109/IROS58592.2024.10802824⟩
Communication dans un congrès
hal-04659853
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sEMG-based Motion Recognition for Robotic Surgery Training - A Preliminary StudyEMBC 2023 - 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Jul 2023, Sydney, Australia. ⟨10.1109/EMBC40787.2023.10340047⟩
Communication dans un congrès
lirmm-04192619
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Design optimization of a soft micro-robot for medical interventionICAR 2023 - 21st IEEE International Conference on Advanced Robotics, Dec 2023, Abu Dhabi, United Arab Emirates. pp.291-296, ⟨10.1109/ICAR58858.2023.10406498⟩
Communication dans un congrès
hal-04310368
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Virtual lumbar puncture simulators: where are we today?ENC 2022 - IEEE Mexican International Conference on Computer Science, Aug 2022, Xalapa, Mexico. pp.1-8, ⟨10.1109/ENC56672.2022.9882910⟩
Communication dans un congrès
lirmm-03782810
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Fast and Automatic Optical 3D Cameras Calibration for Contactless Surface Registration in Computer Assisted SurgeryCRAS 2022 - 11th Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Napoli, Italy
Communication dans un congrès
lirmm-03713605
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Simultaneous haptic guidance and learning of task parameters during robotic teleoperationICRA 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
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Geometric Calibration of a New Miniaturized Endoscopic Ultrasound ProbeICAR 2021 - 20th IEEE International Conference on Advanced Robotics, Dec 2021, Ljubljana, Slovenia. pp.228-233, ⟨10.1109/ICAR53236.2021.9659367⟩
Communication dans un congrès
hal-03519968
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Towards a novel man-machine interface to speed up training on robot-assisted surgerySURGETICA, Jun 2019, Rennes, France
Communication dans un congrès
lirmm-02105125
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Holdable Haptic Device for 4-DOF Motion GuidanceWHC 2019 - 1st IEEE World Haptics Conference, Jul 2019, Tokyo, Japan. pp.109-114, ⟨10.1109/WHC.2019.8816171⟩
Communication dans un congrès
lirmm-02093717
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Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM ModelRO-MAN 2019 - 28th IEEE International Conference on Robot and Human Interactive Communication, Oct 2019, New Delhi, India. pp.1-7, ⟨10.1109/RO-MAN46459.2019.8956453⟩
Communication dans un congrès
lirmm-02315613
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Intraoperative Ultrasound-based Augmented Reality GuidanceSURGETICA, Jun 2019, Rennes, France
Communication dans un congrès
lirmm-02105828
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How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance. ("Best Poster Award")HSMR 2019 - 12th Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom
Communication dans un congrès
lirmm-02093730
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Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked MarkerEMBC 2018 - 40th International Conference of the IEEE Engineering in Medicine and Biology Society, Jul 2018, Honolulu, Hawaii, United States. pp.878-882, ⟨10.1109/EMBC.2018.8512406⟩
Communication dans un congrès
lirmm-01828628
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Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic SurgeryCARS 2018 - 32nd International Congress and Exhibition on Computer Assisted Radiology and Surgery, Jun 2018, Berlin, Germany. pp.S45-S46, ⟨10.1007/s11548-018-1766-y⟩
Communication dans un congrès
lirmm-01828409
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Augmented Reality Visualization Based On 3D UltrasonographySURGETICA, Nov 2017, Strasbourg, France
Communication dans un congrès
lirmm-02105826
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Towards unified dataset for Modeling and Monitoring of Computer Assisted Medical InterventionsSURGETICA, Nov 2017, Strasbourg, France
Communication dans un congrès
lirmm-02105827
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Simplified adaptive path planning for percutaneous needle insertionsICRA 2015 - 32nd IEEE International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1782-1788, ⟨10.1109/ICRA.2015.7139429⟩
Communication dans un congrès
lirmm-01275360
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Needle Deflection Prediction Using Adaptive Slope ModelICAR 2015 - 17th International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65, ⟨10.1109/ICAR.2015.7251434⟩
Communication dans un congrès
lirmm-01275351
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A novel contactless human-machine interface for laparoscopic telesurgerySURGETICA, Dec 2014, Chambéry, France
Communication dans un congrès
hal-01275501
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A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures PlanningCARS 2014 - 28th International Congress and Exhibition on Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan
Communication dans un congrès
lirmm-01275609
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Modelling and Control of an ERF-based Needle Insertion Training PlatformIPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.31-40, ⟨10.1007/978-3-319-07521-1_4⟩
Communication dans un congrès
lirmm-00941009
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Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic TelesurgeryIPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.21-30, ⟨10.1007/978-3-319-07521-1_3⟩
Communication dans un congrès
lirmm-01086444
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Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic PlatformIROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221, ⟨10.1109/IROS.2014.6942712⟩
Communication dans un congrès
lirmm-01078465
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A Case Study of Safety in the Design of Surgical Robots: The ARAKNES PlatformIAS: Intelligent Autonomous Systems, Jun 2012, Jeju Island, South Korea. pp.121-130, ⟨10.1007/978-3-642-33932-5_12⟩
Communication dans un congrès
istex
lirmm-00808392
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Control of meso-robots for endoluminal SurgeryCRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy
Communication dans un congrès
lirmm-00958690
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Beating Heart Motion Compensation Using Active Observers and Disturbance EstimationSYROCO: Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.741-746, ⟨10.3182/20120905-3-HR-2030.00164⟩
Communication dans un congrès
lirmm-00779219
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The impact of interaction model on stability and transparency in bilateral teleoperation for medical applicationsICRA: International Conference on Robotics and Automation, May 2012, St. Paul, MN, United States. pp.1607-1613, ⟨10.1109/ICRA.2012.6225314⟩
Communication dans un congrès
lirmm-00808388
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Active stabilization of ultrasound image for robotically-assisted medical proceduresHamlyn Symposium on Medical robotics, Jul 2012, London, United Kingdom
Communication dans un congrès
hal-00751760
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Soft tissue force control using active observers and viscoelastic interaction modelICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.4660-4666, ⟨10.1109/ICRA.2012.6224958⟩
Communication dans un congrès
lirmm-00779205
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Path planning for steerable needles using duty-cyclingCARS: Computer-Assisted Radiology and Surgery, 2011, Berlin, Germany. pp.293-294
Communication dans un congrès
lirmm-00958702
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Real-time control and evaluation of a teleoperated miniature arm for Single Port LaparoscopyEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7049-7053, ⟨10.1109/IEMBS.2011.6091782⟩
Communication dans un congrès
lirmm-00808384
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Haptic Feedback Control in Medical Robots Through Fractional Viscoelastic Tissue ModelEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6704-6708, ⟨10.1109/IEMBS.2011.6091653⟩
Communication dans un congrès
lirmm-00623166
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Adaptive Path Planning for Steerable Needles Using Duty-CyclingIROS: Intelligent RObots and Systems, Sep 2011, San Francisco, CA, United States. pp.2545-2550, ⟨10.1109/IROS.2011.6048259⟩
Communication dans un congrès
lirmm-00641824
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3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue ModelEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7054-7058, ⟨10.1109/IEMBS.2011.6091783⟩
Communication dans un congrès
lirmm-00623173
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Some control-related issues in mini-robotics for endoluminal surgeryEMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855
Communication dans un congrès
lirmm-00431187
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Design of an ultrasound-guided robotic brachytherapy needle insertion system31th International Conference of the Engineering in Medicine and Biology Society, Sep 2009, Minneapolis, France. pp.250-253
Communication dans un congrès
hal-00416163
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A Passive Force AmplifierInternational Conference on Robotics and Automation, May 2008, United States. pp.2079-2084
Communication dans un congrès
hal-00387390
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MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive SurgeryMICCAI 2004 - 7th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2004, Saint-Malo, France. pp.1-8, ⟨10.1007/978-3-540-30136-3_1⟩
Communication dans un congrès
lirmm-00108906
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Projet MARGE : Modélisation, Apprentissage et Reproduction du Geste EndochirurchicalROBEA 2004 - 4ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Jan 2004, Toulouse, France. pp.17-25
Communication dans un congrès
lirmm-00108664
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Force Controlled Laparoscopic Surgical Robot without Distal ForceSensingISER, Jun 2004, Singapore, Singapore
Communication dans un congrès
hal-01171256
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Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue ModelSKILLS'2011: The International Conference of the European SKILLS Project, Dec 2011, Montpellier, France. , 2011, ⟨10.1051/bioconf/20110100066⟩
Poster de conférence
lirmm-00779228
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Anti-buckling device capable of guiding a cylindrical element that is pushed and moved over a given distance in the direction of its axisUnited States, Patent n° : US20230106299A1. 2021
Brevet
lirmm-04967905
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Dispositif anti-flambement apte à guider un élément cylindrique poussé et déplacé sur une distance donnée dans la direction de son axeFrance, N° de brevet: FR2002744A. 2020
Brevet
lirmm-03805583
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MODULAR SURGICAL TOOLFrance, Patent n° : PCT WO 2010/012748 A1. 2010
Brevet
lirmm-02105831
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Dispositif de trocart pour le passage d'un instrument chirurgical.N° de brevet: WO/2005/067804. 2005
Brevet
hal-00387361
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Supplementary Materials - Decoupled Model Predictive Control for Path Following on Complex Surfaces2023
Autre publication scientifique
lirmm-03962764
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Commande en Effort des Systèmes Robotiques pour la Chirurgie Mini-InvasiveAutomatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2005. Français. ⟨NNT : ⟩
Thèse
tel-00011767
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Apprentissage et guidage du geste chirurgical robotisé : du laboratoire au bloc opératoireAutomatique / Robotique. Université de montpellier, 2022
HDR
tel-04986499
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