Nabil Zemiti

Professeur @ Université de Montpellier
79
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Affiliation actuelle
  • Robotique médicale et mécanismes parallèles (LIRMM | DEXTER)
Identifiants chercheurs
Contact

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
  • PhD Thesis Jun Shen (2015-2019) - Labex CAMI

  • Supervisors : Philippe Poignet & Nabil Zemiti & Jean-Louis Dillenseger (LTSI, Univ. Rennes)

  • Medical Collaborators/Supervisors : Renaud Garrel PU-PH (ENT Department, CHU Montpellier) & Philippe Rouanet PU-PH (ICM Val d’Aurelle, Montpellier)

  • 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
  • Supervisors: Philippe Poignet, Nabil Zemiti & Gérard Subsol

  • Medical Collaborator/Supervisor: Pr B. COULET, M.D; Ph.D (Service de Chirurgie de la Main, du Membre Supérieur

    CHU Lapeyronie, UFR Médecine, UM)

  • 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)
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)

  • ROBPRINT (DGA-Région Occitanie - 10/2023 - 09/2026)
  • BLOCPRINT2 (ANR-Astrid maturation - 05/2021 - 05/2025)
  • ROBECHO (FEDER - 0-1/2020 - 12/2021)
  • OPTIFUSION (Fondation Agir pour l'audition - 09/2018 - 08/2021)
  • MEDMAX1 & MEDMAX2 (Fondation des Gueules Cassées - 09/2017 - 09/2019)
  • ROBACUS (ANR TecSan - 03/2012 - 08/2016)
  • UScomp (ANR ContInt - 03/2009 - 02/2012 )
  • Araknes (FP7 UE project - 05/2008 - 04/2012)

Domaines de recherche

Traitement du signal et de l'image [eess.SP] Automatique / Robotique

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Publications

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Helical and Planar Continuum Robot Shapes by Structural Tube Modifications and Backbone Length Control

Camille Benoist , Cédric Girerd , Carlo Saija , Nabil Zemiti , Philippe Poignet et al.

IEEE Robotics and Automation Letters, In press

Article dans une revue hal-05531210v1
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Interactive pipeline for mandible reconstruction surgery planning using fibula free flap

Sylvain Leclerc , Bianca Jansen van Rensburg , Thibault de Villèle , Marie de Boutray , Nabil Zemiti et al.

International Journal of Computer Assisted Radiology and Surgery, 2025, ⟨10.1007/s11548-025-03392-3⟩

Article dans une revue lirmm-05068455v1
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Non-rigid motion compensation with skin deformation prediction for in situ bioprinting

Lénaïc Cuau , Philippe Poignet , Nabil Zemiti

IEEE Robotics and Automation Letters, 2025, 10 (7), pp.7262-7269. ⟨10.1109/LRA.2025.3575234⟩

Article dans une revue hal-05072918v1
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sEMG-Based Motion Recognition for Robotic Surgery Training Using Machine Learning and Variable-Length Sliding Windows – A Preliminary Study

Chenji Li , Chao Liu , Arnaud Huaulmé , Nabil Zemiti , Pierre Jannin et al.

IEEE Transactions on Medical Robotics and Bionics, 2025, 7 (2), pp.572-582. ⟨10.1109/tmrb.2025.3560389⟩

Article dans une revue lirmm-05036499v1
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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-04763338v1
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Robot-guided osteotomy in fibula free flap mandibular reconstruction: a preclinical study

Marie de Boutray , Lénaïc Cuau , Michael Ohayon , Renaud Garrel , Philippe Poignet et al.

International Journal of Oral and Maxillofacial Surgery, 2024, 53 (4), pp.343-346. ⟨10.1016/j.ijom.2023.07.010⟩

Article dans une revue lirmm-04188126v1
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Contactless Surface Registration of Featureless Anatomy using Structured Light Camera: Application to Fibula Navigation in Mandible Reconstruction

Lénaïc Cuau , Marie de Boutray , João Cavalcanti Santos , Nabil Zemiti , Philippe Poignet

International Journal of Computer Assisted Radiology and Surgery, 2023, 18, pp.2073-2082. ⟨10.1007/s11548-023-02966-3⟩

Article dans une revue lirmm-04099053v2
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Decoupled Model Predictive Control for Path Following on Complex Surfaces

João Cavalcanti Santos , Lénaïc Cuau , Philippe Poignet , Nabil Zemiti

IEEE Robotics and Automation Letters, 2023, 8 (4), pp.2046-2053. ⟨10.1109/LRA.2023.3246393⟩

Article dans une revue lirmm-04000588v1
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Development of a lumbar puncture virtual simulator for medical students training: A preliminary evaluation

Monserrat Ríos-Hernández , Juan Manuel Jacinto-Villegas , Nabil Zemiti , Adriana Herlinda Vilchis-Gonzalez , Miguel Angel Padilla-Castañeda et al.

The International Journal of Medical Robotics and Computer Assisted Surgery, 2023, 19 (6), pp.e2572. ⟨10.1002/rcs.2572⟩

Article dans une revue lirmm-04198155v1
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Miniaturized endoscopic 2D US transducer for volumetric ultrasound imaging of the auditory system

Lucas Lavenir , João Cavalcanti Santos , Nabil Zemiti , Akil Kaderbay , Frederic Venail et al.

IEEE Transactions on Biomedical Engineering, 2023, 70 (9), pp.2624-2635. ⟨10.1109/TBME.2023.3260683⟩

Article dans une revue lirmm-04025813v2
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Enabling 4-DoF hand guidance using a portable haptic device exerting tangential force on the user’s finger pads

Gustavo D. Gil , Nabil Zemiti , Julie M. Walker , Félix Péchereau , Philippe Poignet

Mechatronics, 2022, 86 (102868), ⟨10.1016/j.mechatronics.2022.102868⟩

Article dans une revue lirmm-03713608v1
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CT/MR-Compatible Physical Human-Robotized Needle Interactions: from Modeling to Percutaneous Steering

Ederson Antônio Gomes Dorileô , Nabil Zemiti , Sébastien Krut , Philippe Poignet

Mechatronics, 2022, 85, pp.102840. ⟨10.1016/j.mechatronics.2022.102840⟩

Article dans une revue lirmm-03680857v1
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Electrical impedance tomography: a potential tool for intraoperative imaging of the tongue base

Benoît Brazey , Yassine Haddab , Laure Koebel , Nabil Zemiti

Physiological Measurement, 2022, 43 (1), pp.#015008. ⟨10.1088/1361-6579/ac4a87⟩

Article dans une revue lirmm-03580990v1
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An open-source and easily replicable hardware for Electrical Impedance Tomography

Benoît Brazey , Yassine Haddab , Nabil Zemiti , Frédérick Mailly , Pascal Nouet

HardwareX, 2022, 11, pp.e00278. ⟨10.1016/j.ohx.2022.e00278⟩

Article dans une revue lirmm-03580603v1
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Robust imaging using electrical impedance tomography: review of current tools

Benoît Brazey , Yassine Haddab , Nabil Zemiti

Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2022, 478 (2258), pp.#20210713. ⟨10.1098/rspa.2021.0713⟩

Article dans une revue lirmm-03552536v1
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Fibular registration using surface matching in navigation-guided osteotomies: a proof of concept study on 3D-printed models

Marie de Boutray , João Cavalcanti Santos , Adrien Bourgeade , Michael Ohayon , Pierre-Emmanuel Chammas et al.

International Journal of Computer Assisted Radiology and Surgery, 2022, 17, pp.1321-1331. ⟨10.1007/s11548-022-02608-0⟩

Article dans une revue lirmm-03639410v1
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Admittance-Controlled Robotic Assistant for Fibula Osteotomies in Mandible Reconstruction Surgery

Lingbo Cheng , Jay Carriere , Jakub Piwowarczyk , Daniel Aalto , Nabil Zemiti et al.

Advanced Intelligent Systems, 2021, 3 (1), pp.#2000158. ⟨10.1002/aisy.202000158⟩

Article dans une revue lirmm-02960707v1
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HFUS Imaging of the Cochlea: A Feasibility Study for Anatomical Identification by Registration with MicroCT

Lucas Lavenir , Nabil Zemiti , Mohamed Akkari , Gérard Subsol , Frederic Venail et al.

Annals of Biomedical Engineering, 2021, 49 (5), pp.1308-1317. ⟨10.1007/s10439-020-02671-1⟩

Article dans une revue lirmm-02960692v1
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Feasibility of Cochlea High-frequency Ultrasound and Microcomputed Tomography Registration for Cochlear Computer-assisted Surgery: A Testbed

Mohamed Akkari , Gérard Subsol , Nabil Zemiti , Lucas Lavenir , Charlotte Farah et al.

Otology and Neurotology, 2021, 42 (6), pp.e779-e787. ⟨10.1097/mao.0000000000003091⟩

Article dans une revue lirmm-03250536v1
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Transrectal Ultrasound Image-based Real-time Augmented Reality Guidance in Robot-assisted Laparoscopic Rectal Surgery: A Proof of Concept Study

Jun Shen , Nabil Zemiti , Christophe Taoum , Guillaume Aiche , Jean-Louis Dillenseger et al.

International Journal of Computer Assisted Radiology and Surgery, 2020, 15 (3), pp.531-543. ⟨10.1007/s11548-019-02100-2⟩

Article dans une revue lirmm-02381958v1
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Evaluation of Contactless Human-Machine Interface for Robotic Surgical Training

Fabien Despinoy , Nabil Zemiti , Germain Forestier , Luis Alonso Sanchez Secades , Pierre Jannin et al.

International Journal of Computer Assisted Radiology and Surgery, 2018, 13 (1), pp.13-24. ⟨10.1007/s11548-017-1666-6⟩

Article dans une revue lirmm-01577226v1
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Geometric and mechanical evaluation of 3D-printing materials for skull base anatomical education and endoscopic surgery simulation – A first step to create reliable customized simulators.

Valentin Favier , Nabil Zemiti , Oscar Caravaca Mora , Gérard Subsol , Guillaume Captier et al.

PLoS ONE, 2017, 12 (12), pp.e0189486. ⟨10.1371/journal.pone.0189486⟩

Article dans une revue lirmm-01667197v1
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Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training

Fabien Despinoy , David Bouget , Germain Forestier , Cédric Penet , Nabil Zemiti et al.

IEEE Transactions on Biomedical Engineering, 2016, 63 (6), pp.1280-1291. ⟨10.1109/TBME.2015.2493100⟩

Article dans une revue lirmm-01217023v1
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Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation

Pedro Moreira , Nabil Zemiti , Chao Liu , Philippe Poignet

Computer Methods and Programs in Biomedicine, 2014, 116 (2), pp.52-67. ⟨10.1016/j.cmpb.2014.01.017⟩

Article dans une revue lirmm-00940940v1
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On the Force Control of Kinematically Defective Manipulators Interacting With an Unknown Environment

Nabil Zemiti , Guillaume Morel , Alain Micaelli , Barthélemy Cagneau , Delphine Bellot

IEEE Transactions on Control Systems Technology, 2010, 18 (2), pp.307-322. ⟨10.1109/TCST.2009.2022170⟩

Article dans une revue lirmm-02476015v1
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Light Puncture Robot for CT and MRI Interventions

Ivan Bricault , Nabil Zemiti , Emilie Jouniaux , Céline Fouard , Elise Taillant et al.

IEEE Engineering in Medicine and Biology Magazine, 2008, 27 (3), pp.42-50. ⟨10.1109/EMB.2007.910262⟩

Article dans une revue hal-00311442v1

LPR: A CT and MR-Compatible Puncture Robot to Enhance Accuracy and Safety of Image-Guided Interventions.

Nabil Zemiti , Ivan Bricault , Celine Fouard , Benedicte Sanchez , Philippe Cinquin

IEEE/ASME Transactions on Mechatronics, 2008, 13 (3), pp.306-315

Article dans une revue hal-00387369v1

Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery

Nabil Zemiti , Guillaume Morel , Tobias Ortmaier , Nicolas Bonnet

IEEE/ASME Transactions on Mechatronics, 2007, 12 (2), pp.143-153

Article dans une revue hal-00387379v1
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Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear Implantation

Alexandre Thuillier , Sébastien Krut , Nabil Zemiti , Philippe Poignet

ROBOSOFT 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-04660122v1

Providing automatic formative feedback along surgical skill assessment

Gaspard Tonetti , Cecilie Våpenstad , Nabil Zemiti , Sandrine Voros

SPIE 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-04548504v1
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Tendon-Driven vs Rod-Driven Continuum Robots: A Bench Test Evaluation

Camille Benoist , Cédric Girerd , Nabil Zemiti , Philippe Poignet , Pierre Berthet-Rayne

CRAS 2024 - Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2024, Odense, Denmark

Communication dans un congrès hal-04690807v2
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Direct TPS-based 3D non-rigid motion estimation on 3D colored point cloud in eye-in-hand configuration

Lénaïc Cuau , João Cavalcanti Santos , Philippe Poignet , Nabil Zemiti

IROS 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-04659853v2
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sEMG-based Motion Recognition for Robotic Surgery Training - A Preliminary Study

Chenji Li , Chao Liu , Arnaud Huaulmé , Nabil Zemiti , Pierre Jannin et al.

EMBC 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-04192619v1
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Design optimization of a soft micro-robot for medical intervention

Alexandre Thuillier , Sébastien Krut , Nabil Zemiti , Philippe Poignet

ICAR 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-04310368v1
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Virtual lumbar puncture simulators: where are we today?

Monserrat Ríos-Hernández , Juan Manuel Jacinto-Villegas , Adriana Herlinda Vilchis-Gonzalez , Nabil Zemiti , Miguel Padilla-Castaneda

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-03782810v1
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Fast and Automatic Optical 3D Cameras Calibration for Contactless Surface Registration in Computer Assisted Surgery

Lénaïc Cuau , Marie de Boutray , João Cavalcanti Santos , Philippe Poignet , Nabil Zemiti

CRAS 2022 - 11th Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Napoli, Italy

Communication dans un congrès lirmm-03713605v1
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Geometric Calibration of a New Miniaturized Endoscopic Ultrasound Probe

João Cavalcanti Santos , Lucas Lavenir , Nabil Zemiti , Philippe Poignet , Frederic Venail

ICAR 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-03519968v1
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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-03251658v1
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Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM Model

Yuhang Ye , Chao Liu , Nabil Zemiti , Chenguang Yang

RO-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-02315613v1
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Holdable Haptic Device for 4-DOF Motion Guidance

Julie M. Walker , Nabil Zemiti , Philippe Poignet , Allison Okamura

WHC 2019 - 1st IEEE World Haptics Conference, Jul 2019, Tokyo, Japan. pp.109-114, ⟨10.1109/WHC.2019.8816171⟩

Communication dans un congrès lirmm-02093717v1
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Towards a novel man-machine interface to speed up training on robot-assisted surgery

Gustavo D. Gil , Julie M. Walker , Nabil Zemiti , Allison M Okamura , Philippe Poignet

SURGETICA, Jun 2019, Rennes, France

Communication dans un congrès lirmm-02105125v1
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Intraoperative Ultrasound-based Augmented Reality Guidance

Jun Shen , Nabil Zemiti , Christophe Taoum , Jean-Louis Dillenseger , Philippe Rouanet et al.

SURGETICA, Jun 2019, Rennes, France

Communication dans un congrès lirmm-02105828v1
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How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance. ("Best Poster Award")

Gustavo D. Gil , Julie M. Walker , Nabil Zemiti , Allison M. Okamura , Philippe Poignet

HSMR 2019 - 12th Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom

Communication dans un congrès lirmm-02093730v1
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Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked Marker

Jun Shen , Nabil Zemiti , Jean-Louis Dillenseger , Philippe Poignet

EMBC 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-01828628v1
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Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic Surgery

Jun Shen , Nabil Zemiti , Agnès Viquesnel , Oscar Caravaca Mora , Auguste Courtin et al.

CARS 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-01828409v1
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Augmented Reality Visualization Based On 3D Ultrasonography

Jun Shen , Nabil Zemiti , Oscar Caravaca Mora , Simon Antoine , Jean-Louis Dillenseger et al.

SURGETICA, Nov 2017, Strasbourg, France

Communication dans un congrès lirmm-02105826v1
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Towards unified dataset for Modeling and Monitoring of Computer Assisted Medical Interventions

Fabien Despinoy , Sandrine Voros , Nabil Zemiti , Nicolas Padoy , Pierre Jannin

SURGETICA, Nov 2017, Strasbourg, France

Communication dans un congrès lirmm-02105827v1
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Needle Deflection Prediction Using Adaptive Slope Model

Ederson Antônio Gomes Dorileô , Nabil Zemiti , Philippe Poignet

ICAR 2015 - 17th International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65, ⟨10.1109/ICAR.2015.7251434⟩

Communication dans un congrès lirmm-01275351v1
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Simplified adaptive path planning for percutaneous needle insertions

Ederson Antônio Gomes Dorileô , Abdulrahman Albakri , Nabil Zemiti , Philippe Poignet

ICRA 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-01275360v1
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Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic Telesurgery

Fabien Despinoy , Luis Alonso Sanchez Secades , Nabil Zemiti , Pierre Jannin , Philippe Poignet

IPCAI: 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-01086444v1

Modelling and Control of an ERF-based Needle Insertion Training Platform

Adrian Graña Sanchez , Luis Alonso Sanchez Secades , Nabil Zemiti , Philippe Poignet

IPCAI: 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-00941009v1

A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures Planning

Ederson Antônio Gomes Dorileô , Nikolai Hungr , Nabil Zemiti , Ivan Bricault , Céline Fouard et al.

CARS 2014 - 28th International Congress and Exhibition on Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan

Communication dans un congrès lirmm-01275609v1
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A novel contactless human-machine interface for laparoscopic telesurgery

Fabien Despinoy , Luis Alonso Sanchez Secades , Nabil Zemiti , Pierre Jannin , Philippe Poignet

SURGETICA, Dec 2014, Chambéry, France

Communication dans un congrès hal-01275501v1

Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic Platform

Adrian Graña Sanchez , Luis Alonso Sanchez Secades , Nabil Zemiti , Philippe Poignet

IROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221, ⟨10.1109/IROS.2014.6942712⟩

Communication dans un congrès lirmm-01078465v1
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Control of meso-robots for endoluminal Surgery

Luis Alonso Sanchez Secades , Chao Liu , Nabil Zemiti , Philippe Poignet , Etienne Dombre

CRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy

Communication dans un congrès lirmm-00958690v1

A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform

Luis Alonso Sanchez Secades , Minh-Quyen Le , Kanty Rabenorosoa , Chao Liu , Nabil Zemiti et al.

IAS: 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-00808392v1

The impact of interaction model on stability and transparency in bilateral teleoperation for medical applications

Luis Alonso Sanchez Secades , Minh-Quyen Le , Chao Liu , Nabil Zemiti , Philippe Poignet

ICRA: 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-00808388v1
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Active stabilization of ultrasound image for robotically-assisted medical procedures

Caroline Nadeau , Alexandre Krupa , Pedro Moreira , Nabil Zemiti , Philippe Poignet et al.

Hamlyn Symposium on Medical robotics, Jul 2012, London, United Kingdom

Communication dans un congrès hal-00751760v1

Soft tissue force control using active observers and viscoelastic interaction model

Pedro Moreira , Chao Liu , Nabil Zemiti , Philippe Poignet

ICRA: 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-00779205v1

Beating Heart Motion Compensation Using Active Observers and Disturbance Estimation

Pedro Moreira , Chao Liu , Nabil Zemiti , Philippe Poignet

SYROCO: Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.741-746, ⟨10.3182/20120905-3-HR-2030.00164⟩

Communication dans un congrès lirmm-00779219v1

Path planning for steerable needles using duty-cycling

Mariana C. Bernardes , Bruno Vilhena Adorno , Nabil Zemiti , Philippe Poignet , Geovany A. Borges

CARS: Computer-Assisted Radiology and Surgery, 2011, Berlin, Germany. pp.293-294

Communication dans un congrès lirmm-00958702v1

Real-time control and evaluation of a teleoperated miniature arm for Single Port Laparoscopy

Luis Alonso Sanchez Secades , Gianluigi Petroni , Marco Piccigallo , Umberto Scarfogliero , Marta Niccolini et al.

EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7049-7053, ⟨10.1109/IEMBS.2011.6091782⟩

Communication dans un congrès lirmm-00808384v1
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Adaptive Path Planning for Steerable Needles Using Duty-Cycling

Mariana Costa Bernardes , Bruno Vilhena Adorno , Philippe Poignet , Nabil Zemiti , Geovany A. Borges

IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, CA, United States. pp.2545-2550, ⟨10.1109/IROS.2011.6048259⟩

Communication dans un congrès lirmm-00641824v1
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Haptic Feedback Control in Medical Robots Through Fractional Viscoelastic Tissue Model

Yo Kobayashi , Pedro Moreira , Chao Liu , Philippe Poignet , Nabil Zemiti et al.

EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6704-6708, ⟨10.1109/IEMBS.2011.6091653⟩

Communication dans un congrès lirmm-00623166v1

3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue Model

Chao Liu , Pedro Moreira , Nabil Zemiti , Philippe Poignet

EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7054-7058, ⟨10.1109/IEMBS.2011.6091783⟩

Communication dans un congrès lirmm-00623173v1
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Some control-related issues in mini-robotics for endoluminal surgery

Philippe Poignet , Ahmed Chemori , Nabil Zemiti , Chao Liu

EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855

Communication dans un congrès lirmm-00431187v1
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Design of an ultrasound-guided robotic brachytherapy needle insertion system

Nikolai Hungr , Jocelyne Troccaz , Nabil Zemiti , Nathanael Tripodi

31th International Conference of the Engineering in Medicine and Biology Society, Sep 2009, Minneapolis, France. pp.250-253

Communication dans un congrès hal-00416163v1

A Passive Force Amplifier

Barthelemy Cagneau , Guillaume Morel , Delphine Bello , Nabil Zemiti , G. d'Agostino

International Conference on Robotics and Automation, May 2008, United States. pp.2079-2084

Communication dans un congrès hal-00387390v1

Projet MARGE : Modélisation, Apprentissage et Reproduction du Geste Endochirurchical

Etienne Dombre , Micaël Michelin , François Pierrot , Philippe Poignet , Philippe Bidaud et al.

ROBEA 2004 - 4ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Jan 2004, Toulouse, France. pp.17-25

Communication dans un congrès lirmm-00108664v1
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Force Controlled Laparoscopic Surgical Robot without Distal ForceSensing

Nabil Zemiti , Tobias Ortmaier , Marie-Aude Vitrani , Guillaume Morel

ISER, Jun 2004, Singapore, Singapore

Communication dans un congrès hal-01171256v1
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MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive Surgery

Etienne Dombre , Micaël Michelin , François Pierrot , Philippe Poignet , Philippe Bidaud et al.

MICCAI 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-00108906v1

Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model

Pedro Moreira , Chao Liu , Nabil Zemiti , Philippe Poignet

SKILLS'2011: The International Conference of the European SKILLS Project, Dec 2011, Montpellier, France. , 2011, ⟨10.1051/bioconf/20110100066⟩

Poster de conférence lirmm-00779228v1
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Commande en Effort des Systèmes Robotiques pour la Chirurgie Mini-Invasive

Nabil Zemiti

Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2005. Français. ⟨NNT : ⟩

Thèse tel-00011767v1