Philippe Poignet
- Robotique médicale et mécanismes parallèles (LIRMM | DEXTER)
Présentation
Philippe Poignet est professeur à l’Université de Montpellier (composante d’enseignement : IUT ; laboratoire de recherche : LIRMM). Il occupe, depuis juillet 2015, les fonctions de directeur du Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier LIRMM. Il est membre du comité de direction du Labex CAMI depuis 2012 et responsable d’un projet d’IRP avec l’Université de Stanford. Membre de l’équipe DEXTER, il est spécialiste de Robotique Chirurgicale. Il est co-fondateur de la startup ACUSURGICAL (concours scientifique), spécialisée dans la conception et le développement d’un robot d’assistance pour la chirurgie de la rétine. Il est également en concours scientifique avec la société STERLAB pour le développement d’un robot conçu pour l’urétéroscopie flexible du haut appareil urinaire. Depuis 20 ans, il co-organise l’école d’été en robotique chirurgicale (SSSR) qui a lieu tous les deux ans.
Publications
Publications
|
|
Étude d’une tenségrité souple pour la conception d’un effecteur à raideur variable d’endoscope chirurgical robotiséCFM 2025 - 26e Congrès Français de Mécanique, Laboratoire d'Etude des Microstructures et de Mécanique des Matériaux (LEM3 - UMR CNRS 7239), Aug 2025, Metz, France |
|
|
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⟩ |
|
|
Using a soft tensegrity to build an endoscope tip: numerical assessment of orientation and stiffness capabilitiesCRAS 2024 - Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2024, Odense, Denmark |
|
|
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⟩ |
|
|
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 |
|
|
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⟩ |
|
|
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⟩ |
|
|
Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous InterventionsARK 2022 - 18th International Symposium on Advances in Robot Kinematics, Jun 2022, Bilbao, Spain. pp.332-339, ⟨10.1007/978-3-031-08140-8_36⟩ |
|
|
Super twisting control for tensegrity systemsSYROCO 2022 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan |
|
|
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 |
|
|
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⟩ |
|
|
Efficient target tracking for 3D ultrasound-guided needle steeringSPIE Medical Imaging, Feb 2020, Houston, United States. pp.#113150I, ⟨10.1117/12.2548321⟩ |
|
|
Model Predictive Controller for a Planar Tensegrity Mechanism with decoupled position and stiffness controlARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Jun 2020, Ljubljana, Slovenia. pp.349-358, ⟨10.1007/978-3-030-50975-0_43⟩ |
|
|
Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity MechanismARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Dec 2020, Ljubljana, Slovenia. pp.15-24, ⟨10.1007/978-3-030-50975-0_3⟩ |
|
|
Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulationICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3882-3888, ⟨10.1109/ICRA40945.2020.9197507⟩ |
|
|
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⟩ |
|
|
Towards a novel man-machine interface to speed up training on robot-assisted surgerySURGETICA, Jun 2019, Rennes, France |
|
|
Intraoperative Ultrasound-based Augmented Reality GuidanceSURGETICA, Jun 2019, Rennes, France |
|
|
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 |
|
|
Needle Segmentation in 3D Ultrasound Volumes Based on Machine Learning for Needle SteeringHSMR 2019 - 12th Hamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom |
|
|
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⟩ |
|
|
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⟩ |
|
|
Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication DelaySYROCO 2018 - 12th IFAC Symposium on Robot Control, Aug 2018, Budapest, Hungary. pp.493-499, ⟨10.1016/j.ifacol.2018.11.585⟩ |
|
|
Beveled-Tip Needle-Steering Using 3D Ultrasound, Mechanical-Based Kalman Filter and Curvilinear ROI PredictionICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. ⟨10.1109/ICARCV.2016.7838840⟩ |
|
|
Can Multi-Sensory Feedbacks Improve Laparoscopic Surgery Training?SURGETICA, Nov 2017, Strasbourg, France |
|
|
Augmented Reality Visualization Based On 3D UltrasonographySURGETICA, Nov 2017, Strasbourg, France |
Battery-free force sensor for instrumented knee implantHI-POCT: Healthcare Innovations and Point-of-Care Technologies, Nov 2017, Bethesda, United States. ⟨10.1109/HIC.2017.8227570⟩ |
|
|
|
Optimization of concentric-tube robot design for deep anterior brain tumor surgeryICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. ⟨10.1109/ICARCV.2016.7838563⟩ |
|
|
Towards the control of tensegrity mechanisms for variable stiffness applications: a case studyEUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.163-171, ⟨10.1007/978-3-319-44156-6_17⟩ |
|
|
Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot designICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.661-667, ⟨10.1109/ICRA.2016.7487192⟩ |
Motion Prediction Using Dual Kalman Filter for Robust Beating Heart TrackingEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4875-4878, ⟨10.1109/EMBC.2015.7319485⟩ |
|
|
|
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⟩ |
|
|
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⟩ |
Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time DelayECC: European Control Conference, Jul 2015, Linz, Austria. pp.1980-1985, ⟨10.1109/ECC.2015.7330829⟩ |
|
Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted SurgeryEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4894-4897, ⟨10.1109/EMBC.2015.7319489⟩ |
|
|
|
Experiments on a variable stiffness tensegrity mechanism for an MR-compatible needle holderCRAS: Computer/Robot Assisted Surgery, Sep 2015, Bruxelles, Belgium |
Parallel Singularities for the Design of Softening Springs Using Compliant MechanismsIDETC/CIE: International Design Engineering Technical Conferences and Computers and Information in Engineering, Aug 2015, Boston, MA, United States. pp.V05AT08A019, ⟨10.1115/DETC2015-47240⟩ |
|
|
|
Using Rotation for Steerable Needle Detection in 3D Color-Doppler Ultrasound ImagesEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milano, Italy. pp.1544-1547, ⟨10.1109/EMBC.2015.7318666⟩ |
Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate JacobianICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5877-5882, ⟨10.1109/ICRA.2014.6907724⟩ |
|
Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic SystemEMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. pp.361-365, ⟨10.1109/EMBC.2014.6943604⟩ |
|
Environment Modeling with Physiological Motion Disturbance for Surgical TeleoperationICCARV: International Conference on Control, Automation, Robotics and Vision, Dec 2014, Singapore, Singapore. pp.1298-1303, ⟨10.1109/ICARCV.2014.7064503⟩ |
|
|
|
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⟩ |
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 |
|
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⟩ |
|
A Miniaturised Actuation System Embedded in an Instrumented Knee Implant for Postoperative Ligament Imbalance CorrectionEMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, Il, United States. pp.6211-6214, ⟨10.1109/EMBC.2014.6945048⟩ |
|
|
|
A novel contactless human-machine interface for laparoscopic telesurgerySURGETICA, Dec 2014, Chambéry, France |
Contribution Of Different Drawing Tasks In The Assessment Of Essential TremorMDS: Movement Disorder Society, Jun 2014, Stockholm, Sweden. pp.1133 |
|
Haptic Teleoperation and Concentric Tube Robot - Some New Control Developments for New Surgical Robot ApplicationsEMBC 2014 - 36th International Conference of the IEEE Engineering in Medicine and Biology Society, Aug 2014, Chicago, United States |
|
An active tibial component for potoperative fine tuning adjustment of knee ligament imbalanceBioRob: Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. pp.126-131, ⟨10.1109/BIOROB.2014.6913764⟩ |
|
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⟩ |
|
|
|
Control of meso-robots for endoluminal SurgeryCRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy |
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⟩ |
|
Towards a Dynamic Tibial Component for Postoperative Fine-tuning Adjustment of Knee Ligament ImbalanceBIODEVICES: Biomedical Electronics and Devices, Feb 2013, Barcelona, Spain. pp.95-102 |
|
Stability and Performance Analysis of Three-Channel Teleoperation Control Architectures for Medical ApplicationsIROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.456-462, ⟨10.1109/IROS.2013.6696391⟩ |
|
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⟩ |
|
|
|
Active stabilization of ultrasound image for robotically-assisted medical proceduresHamlyn Symposium on Medical robotics, Jul 2012, London, United Kingdom |
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⟩ |
|
Viscoelastic Model Based Force Tracking Control for Robotic-Assisted SurgeryBioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Roma, Italy. pp.1199-1204 |
|
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⟩ |
|
Semi-automatic needle steering system with robotic manipulatorICRA: International Conference on Robotics and Automation, May 2012, St Paul, United States. pp.1595-1600, ⟨10.1109/ICRA.2012.6225185⟩ |
|
Path planning for steerable needles using duty-cyclingCARS: Computer-Assisted Radiology and Surgery, 2011, Berlin, Germany. pp.293-294 |
|
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⟩ |
|
|
|
Towards a Cooperative Framework for Interactive Manipulation Involving a Human and a HumanoidICRA: International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.3777-3783, ⟨10.1109/ICRA.2011.5979787⟩ |
Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulator with UncertaintiesIFAC 18th World Congress 2011, Milano, Italy. pp.10300-10306 |
|
|
|
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⟩ |
|
|
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⟩ |
On the Use of FES to Attenuate Tremor by Modulating Joint ImpedanceCDC-ECC: Conference on Decision and Control - European Control Conference, Dec 2011, Orlando, Florida, United States. pp.6 |
|
|
|
Tremor attenuation based on joint impedance modulation using FESIFESS: International Functional Electrical Stimulation Conference, Sep 2011, Sao Paulo, Brazil |
|
|
Joint Angle Estimation in Rehabilitation with Inertial Sensors and its Integration with KinectEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.3479-3483, ⟨10.1109/IEMBS.2011.6090940⟩ |
|
|
Using electromechanical delay for real-time anti-phase tremor attenuation system using Functional Electrical StimulationICRA 2011 - IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.3694-3699, ⟨10.1109/ICRA.2011.5979865⟩ |
|
|
AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objetsCFM 2011 - 20e Congrès Français de Mécanique, Aug 2011, Besançon, France |
|
|
Robust 3D Tracking for Robotic-Assisted Beating Heart SurgeryEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6686-6690, ⟨10.1109/IEMBS.2011.6091648⟩ |
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⟩ |
|
A generalized predictive force controller for electropneumatic cylindersNOLCOS: Nonlinear Control Systems, Sep 2010, University of Bologna, Italy. pp.1058-1063, ⟨10.3182/20100901-3-IT-2016.00047⟩ |
|
|
|
Commande predictive robuste des vérins electropneumatiques dans un schema en cascade position-pressionConférence Internationale Francophone d'Automatique CIFA2010, Jun 2010, Nancy, France. pp.Inconnu |
Robust 3D visual tracking for robotic-assisted cardiac interventionsMICCAI: Medical Image Computing and Computer Assisted Intervention, Sep 2010, Beijing, China. pp.267-274 |
|
|
|
Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart SurgeryIROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.1856-1861, ⟨10.1109/IROS.2010.5650684⟩ |
Tremor attenuation using FES-based joint stiffness controlICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.2928-2933, ⟨10.1109/ROBOT.2010.5509560⟩ |
|
Beating heart motion prediction for robust visual trackingICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.4579-4584, ⟨10.1109/ROBOT.2010.5509894⟩ |
|
|
|
Nonlinear Identification Method Corresponding to Muscle Property Variation in FES - Experiments in Paraplegic PatientsBioRob: Biomedical Robotics and Biomechatronics, Sep 2010, Tokyo, Japan. pp.401-406, ⟨10.1109/BIOROB.2010.5628018⟩ |
|
|
A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles2010 American Control Conference Marriott Waterfront, Baltimore, MD, USA June 30-July 02, 2010, Jun 2010, Baltimore, United States. pp.6022-6029 |
|
|
A mixed GPC-H infinity robust cascade position-pressure control strategy for electropneumatic cylindersICRA: International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.5147-5154, ⟨10.1109/ROBOT.2010.5509386⟩ |
SP-ID regulation of rigid-link electrically driven robots with uncertain kinematicsICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.4663-4668, ⟨10.1109/ROBOT.2010.5509996⟩ |
|
|
|
Compensation for 3D physiological motion in robotic-assisted surgery using a predictive force controllerIROS 2009 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2634-2639, ⟨10.1109/IROS.2009.5353909⟩ |
|
|
Physiological Musculoskeletal Model Identification for the Lower Limbs Control of Paraplegic Under Implanted FESIROS'09: International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.3549-3554, ⟨10.1109/IROS.2009.5354348⟩ |
|
|
Modeling Human Postural Coordination to Improve the Control of Balance in Humanoids7th IEEE-RAS International Conference on Humanoid Robots, Nov 2007, Pittsburgh, PA, United States. pp.324-329, ⟨10.1109/ICHR.2007.4813888⟩ |
|
|
Identification and Validation of FES Physiological Musculoskeletal Model in Paraplegic SubjectsEMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6538-6541, ⟨10.1109/IEMBS.2009.5334507⟩ |
|
|
EMG-to-force estimation with full-scale physiology based muscle modelIROS'09: International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.1621-1626, ⟨10.1109/IROS.2009.5354644⟩ |
Motion Compensation for Robotic-Assisted Surgery with Force FeedbackICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.3464-3469, ⟨10.1109/ROBOT.2009.5152220⟩ |
|
Filtering of intended motion for real-time tremor compensation in human upper limb using surface electromyographyEMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.2296-2299, ⟨10.1109/IEMBS.2009.5332523⟩ |
|
|
|
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 |
|
|
FES-controlled Co-contraction Strategies for Pathological Tremor CompensationIROS 2009 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1633-1638, ⟨10.1109/IROS.2009.5354397⟩ |
|
|
Filtering Voluntary Motion for Pathological Tremor CompensationIROS: Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.55-60, ⟨10.1109/IROS.2009.5353972⟩ |
|
|
EMG-Based Neuromuscular Modeling with Full Physiological Dynamics and Its Comparison with Modified Hill ModelEMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6530-6533, ⟨10.1109/IEMBS.2009.5333147⟩ |
Optimal Functional Electrical Stimulation patterns synthesis for knee joint controlIROS'08: International Conference on Intelligent RObots and Systems, Sep 2008, Nice, France. pp.2386-2391, ⟨10.1109/IROS.2008.4651112⟩ |
|
Efficient 3D tracking for motion compensation in beating heart surgeryMICCAI: Medical Image Computing and Computer Assisted Intervention, Sep 2008, New-York University, United States. pp.684-691 |
|
Online Pathological Tremor Characterization Using Extended Kalman FilteringEMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.1753-1756, ⟨10.1109/IEMBS.2008.4649516⟩ |
|
|
|
Current Progress on Pathological Tremor Modeling and Active Compensation using Functional Electrical StimulationISG 2008 - 6th Conference of the International Society for Gerontechnology, Jun 2008, Pisa, Italy. pp.001-006 |
|
|
Nonlinear identification of skeletal muscle dynamics with sigma-point kalman filter for model-based FESICRA 2008 - IEEE International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. pp.2049-2054, ⟨10.1109/ROBOT.2008.4543508⟩ |
Deformable motion tracking of the heart surfaceIROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.3997-4003, ⟨10.1109/IROS.2008.4650916⟩ |
|
|
|
Compensation of Physiological Motion using Linear Predictive Force ControlIROS 2008 - IEEE/RSJ International Conference on Intelligent RObots and Systems, Sep 2008, Nice, France. pp.1173-1178, ⟨10.1109/IROS.2008.4651011⟩ |
Kalman filtering of accelerometer and electromyography data in pathological tremor sensing systemICRA 2008 - IEEE International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. pp.3250-3255, ⟨10.1109/ROBOT.2008.4543706⟩ |
|
A Neuromusculoskeletal Model Exploring Peripheral Mechanism of TremorEMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.3715-3719, ⟨10.1109/IEMBS.2008.4650016⟩ |
|
Motion Prediction for Tracking the Beating HeartEMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.3261-3264, ⟨10.1109/IEMBS.2008.4649900⟩ |
|
Stereo-Vision for 3D Tracking of the Beating HeartSURGETICA, 2007, Chambery, France |
|
Haptic Feedback Control in Medical Robotics through Stiffness Estimation with Extended KalmanICAR 2007 - 13th International Conference on Advanced Robotics, Aug 2007, Jeju, South Korea. pp.81-87 |
|
Lower Limbs Movement Restoration using Input-Output Feedback Linearization and Model Predictive ControlIROS: Intelligent Robots and Systems, Oct 2007, San Diego, United States. pp.1945-1950 |
|
Séquences de stimulation électrique optimales pour la restauration du mouvement fonctionnelASSISTH'07: 1st International Conference on Accessibility and Assistive Technology for People in Disability Situation, Nov 2007, Toulouse, France, pp.343-348 |
|
Experimental Identification of Skeletal Muscle Biomechanical Parameters with Sigma Point Kalman FilterIFESS: International Functional Electrical Stimulation Society, Nov 2007, Philadelphia, United States |
|
Mesure d' effort et de diamètre d'artères4ème Colloque Interdisciplinaire en Instrumentation C2I, Oct 2007, Nancy, pp.001-008 |
|
Towards a sensing system for quantification of pathological tremorICIAS 2007 - International Conference on Intelligent & Advanced Systems, Nov 2007, Kuala Lumpur, Malaysia |
|
Suivi de coeur battant par analyse de textureSURGETICA, 2007, Chambéry, France. pp.403-407 |
|
Efficient tracking of the heart using texture29th Annual International Conference of the IEEE EMBS, pp.4480-4483 |
|
Robotic-Assisted Surgery Through Haptic Feedback Teleoperation ControllerSURGETICA, Sep 2007, Chambéry, France. pp.351-359 |
|
Stability and Transparency Analysis of a Haptic Feedback Controller for Medical ApplicationsCDC 2007 - 46th IEEE Conference on Decision and Control, Dec 2007, New Orleans, LA, United States. pp.5767-5772, ⟨10.1109/CDC.2007.4434677⟩ |
|
|
|
Optimal Patterns Synthesis Approach for Knee Motion under Functional Electrical StimulationIFESS: International Functional Electrical Stimulation Society, Nov 2007, Philadelphia, United States |
Towards Teleoperated Needle Insertion with Haptic Feedback ControllerIROS: Intelligent Robots and Systems, Oct 2007, San Diego, CA, United States. pp.1254-1259, ⟨10.1109/IROS.2007.4399085⟩ |
|
|
|
Suivi de Coeur Battant : Tracking 2D et 3D utilisant la TextureCORESA: COmpression et REprésentation des Signaux Audiovisuels, Nov 2007, Montpellier, France. pp.43-47 |
Dynamic Modelling and Identification of PAR4, a Very High-Speed Parallel ManipulatorIROS'06: International Conference on Intelligent Robots & Systems, 2006, Beijing, China |
|
Texture Features Selection for Visual Servoing of the Beating HeartBioRob 2006 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Feb 2006, Pisa, Italy. pp.335-340, ⟨10.1109/BIOROB.2006.1639109⟩ |
|
|
|
Image Based Visual Servoing through Nonlinear Model Predictive ControlCDC 2006 - 45th International Conference on Decision and Control, Dec 2006, San Diego, CA, United States. pp.1776-1781, ⟨10.1109/CDC.2006.377243⟩ |
3D Heart Motion Estimation Using Endoscopic Monocular Vision SystemMCBMS 2006 - 6th IFAC Symposium on Modeling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.141-146 |
|
Towards Nonlinear Model Predictive Control for Image Based Visual ServoingNMPC-FS’06: 1st IFAC Workshop Nonlinear Model Predictive Control for Fast Systems, Oct 2006, Grenoble, France |
|
Closed Loop Non Linear Model Predictive Control Applied On Paralyzed Muscles To Restore Lower Limbs FunctionsIROS'06: International Conference on Intelligent Robots and Systems, Oct 2006, pp.259-264 |
|
Haptic Control Design for Robotic-Assisted Minimally Invasive SurgeryIROS: Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.454-459, ⟨10.1109/IROS.2006.282168⟩ |
|
Experimental Parallel Robot Dynamic Model Evaluation with Set Membership EstimationSYSID'06: 14th IFAC Symposium on System Identification, 2006, pp.967-972 |
|
Towards Modelling the Human Sensory Motor SystemMCBMS’06: 6th IFAC Symposium on Modelling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.399-404 |
|
Composite visual tracking of the moving heart using texture characterizationMedical Robotics Workshop (MICCAI'06), Oct 2006, pp.6 |
|
Nonlinear Model Predictive Control via Interval AnalysisCDC'05: Conference on Decision and Control, Dec 2005, Seville, Spain |
|
|
|
Projet GABIE : Guidage Actif Basé sur l'Imagerie EchographiqueROBEA 2005 - 5e Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Mar 2005, Montpellier, France. pp.49-56 |
|
|
Session robotique médicale La conception de robots pour l'assistance aux gestes médicaux et chirurgicauxJNRR 2005 - 5e Journées Nationales de la Recherche en Robotique, Oct 2005, Guidel, France |
|
|
Robust Control Law Strategy Based on High Order Sliding Mode : Towards a Muscle ControlIROS'05: International Conference on Intelligent Robots & Systems, Aug 2005, Edmonton (Canada), pp.2882-2887 |
Towards a Co-contraction Muscle Control Strategy For ParaplegicsCDC: Conference on Decision and Control, Dec 2005, Seville, Spain. pp.7428-7433, ⟨10.1109/CDC.2005.1583360⟩ |
|
BRIGIT: A Robotized Tool Guide for Orthopedic SurgeryICRA: International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.211-216, ⟨10.1109/ROBOT.2005.1570121⟩ |
|
Mitral Valve Leaflet Motion Tracking in Ultrasound ImagesSURGETICA, Jan 2005, Chambéry, France. pp.237-244 |
|
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 |
|
Commande non Linéaire à Horizon Fuyant via l'Arithmétique d'IntervallesCIFA: Conférence Internationale Francophone d'Automatique, Nov 2004, Douz, Tunisie. pp.CD n°66 |
|
Control of the Knee Joint Under Functional Electrical Stimulation: Simulation Results Based on a New Physiological Muscle ModelIFESS: International Functional Electrical Stimulation Society, Sep 2004, Bournemouth, United Kingdom. pp.113-116 |
|
Using a complex, physiological based modelling of the muscle to perform realistic simulation and test control strategies: closed loop controlled stand up exampleIFESS: International Functional Electrical Stimulation Society, Sep 2004, Bournemouth, United Kingdom. pp.219-221 |
|
Mathematical Muscle Model for Functional Electrical Stimulation Control StrategiesICRA: International Conference on Robotics and Automation, Apr 2004, New Orleans, LA, United States. pp.1282-1287 |
|
|
|
Dynamic Task/Posture Decoupling for Minimally Invasive Surgery MotionsISER: International Symposium on Experimental Robotics, Jun 2004, Singapore, Singapore |
Dynamic Task/Posture Decoupling for Minimally Invasive Surgery Motions: Simulation ResultsIROS: Intelligent Robots and Systems, Sep 2004, Sendai, Japan. pp.3625-3630, ⟨10.1109/IROS.2004.1389978⟩ |
|
Modelling and Control of Human Paralysed Lower Limbs Under Functional Electrical Simulation (FES)HLR: Humanoid and Legged Robots, Oct 2004, Metz, France |
|
|
|
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⟩ |
|
|
Experimental Dynamic Identification of a Fully Parallel RobotICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. pp.3278-3284 |
|
|
Modelling of the human paralysed lower limb under FESICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. pp.2218-2223, ⟨10.1109/ROBOT.2003.1241923⟩ |
|
|
Robust Estimation of Parallel Robot with Interval AnalysisCDC: Conference on Decision and Control, Dec 2003, Maui, Hawaii, United States. pp.6503-6508, ⟨10.1109/CDC.2003.1272397⟩ |
Experimental Dynamic Parameters Idenfification of a 7 Dof Walking RobotCLAWAR: Climbing and Walking Robots, Sep 2003, Catania, Italy. pp.477-484 |
|
L'estimation Robuste des Paramètres Dynamiques Physique de Robots dans un Contexte à Erreur Bornée Constitue-elle une Alternative Pertinente à une Approche de Type Maximum de Vraisemblance ?JNA'03: Journées Nationales d'Automatique, Jun 2003, Valenciennes, France |
|
DERMAROB : A Partial Thickness Skin Harvesting Robot: Technical and Experimental DataETRS: European Tissue Repair Society, Sep 2003, Amsterdam, Netherlands |
|
|
|
Predictive Functional Control for a Parallel RobotIROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.2785-2790, ⟨10.1109/IROS.2003.1249292⟩ |
Automatic Control Theory Applied to the Restoration of the Movement of Paralysed LimbsIARP: International Advanced Robotics Programme, Oct 2003, Madrid, Spain. pp.99-103 |
|
|
|
Ellipsoidal Estimation of Parallel Robot Dynamic ParametersIROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.3300-3305, ⟨10.1109/IROS.2003.1249665⟩ |
|
|
Non Linear Model Predictive Control Using Constraints SatisfactionCOCOS: Global Optimization and Constraint Satisfaction, Nov 2003, Lausanne, Switzerland. pp.142-153, ⟨10.1007/11425076_11⟩ |
Modelling of the Skeletal Muscle under Functional Electrical StimulationIFESS: International Functional Electrical Stimulation Society, Jul 2003, Sunshine Coast, Bribane, Australia. pp.206-209 |
|
Applications des Outils de l'Automatique au Problème de la Restauration du Mouvement de Membres Paralysés sous Stimulation Electrique FonctionnelleJNRR: Journées Nationales de la Recherche en Robotique, Oct 2003, Clermont-Ferrand, France. pp.75-80 |
|
|
|
Model Based Predictive Control of a Fully Parallel RobotSYROCO: Symposium on Robot Control, 2003, Wroclaw, Poland. pp.277-282 |
|
|
Accelerometer Based Identification of Mechanical SystemsICRA 2002 - IEEE International Conference on Robotics and Automation, May 2002, Washington, DC, United States. pp.4293-4298, ⟨10.1109/ROBOT.2002.1014433⟩ |
DERMAROB : Robot de Prélèvement CutanéGAM: Groupe pour l'Avancement de la Microchirurgie, 2002, Collioure, France |
|
|
|
Three-Dimensional Parameterised Gaits for Biped WalkingCLAWAR: Climbing and Walking Robots, 2002, Paris, France. pp.749-757 |
Identification des Flexibilités de Machines OutilsAssises Machines et Usinage Grande Vitesse, 2002, Lille, France |
|
Moving Horizon Control for Biped Robots Without Reference TrajectoryICRA: International Conference on Robotics and Automation, May 2002, Washington, DC, United States. pp.2762-2767 |
|
Dermarob, A Robotic Assistive Device for Skin HarvestingSURGETICA, Sep 2002, Grenoble, France. pp.63-68 |
|
|
|
Robots à Architecture Complexe : De la Conception à la Performance et l'AutonomieROBEA 2002 - 2es Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11 |
Achieving Motion Under a Penetration Point ConstraintIROS: Intelligent Robots and Systems, Sep 2002, Lausanne, Switzerland. pp.1475-1480 |
|
|
|
Contrôle du mouvement du membre inférieur humain paralysé sous stimulation électriqueROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Jan 2002, Toulouse, France. pp.9-15 |
Robotized Skin HarvestingISER: International Symposium on Experimental Robotics, 2002, Sant'Angello d'Ischia, Italy |
|
DERMAROB: Robot d'Assistance pour la Chirurgie Réparatrice et la Chirurgie PlastiqueGAM: Groupe pour l'Avancement de la Microchirurgie, Apr 2002, Collioure, France |
|
DERMAROB : Robot de Prélèvement CutanéJJCR: Journées des Jeunes Chercheurs en Robotique, Jan 2002, Strasbourg, France |
|
|
|
MAX - Robots à architecture complexe : de la conception à la performance et l’autonomieROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.1-8 |
Commande predictive pour la marche d'un robot bipède sous actionnéCIFA: Conférence Internationale Francophone d'Automatique, Jul 2002, Nantes, France |
|
On line Optimal Control for Biped RobotsIFAC'02: World Congress, 2002, Barcelona, Spain |
|
|
|
Identification of joint stiffness with bandpass filteringICRA 2001 - IEEE International Conference on Robotics and Automation, May 2001, Seoul, South Korea. pp.2867-2872, ⟨10.1109/ROBOT.2001.933056⟩ |
|
|
SICOMAT : a system for SImulation and COntrol analysis of MAchine ToolsIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2001, Jul 2001, Como, Italy. pp. 665-670, ⟨10.1109/AIM.2001.936546⟩ |
|
|
SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools2nd International Seminar on Improving Machine Tool Performance, IMTP2, Jul 2000, La Baule, France. Session A1, Num A6, pp. 1-19 |
|
|
Automatic tuning of cascade structure CNC controllers6th International Workshop on Advanced Motion Control. Proceedings, Mar 2000, Nagoya, Japan. pp.390-395, ⟨10.1109/AMC.2000.862899⟩ |
|
|
Needle localization for needle steering under 3D ultrasound feedbackCSR: Continuum and Soft Robots, Oct 2018, Madrid, Spain. , Continuum and Soft Robots (CSR) for Medical Interventions: Modelling, Fabrication, and Control - IROS Workshop, 2018 |
|
|
Toward an MR-compatible needle holder with adaptive compliance using an active tensegrity mechanismSURGETICA, Dec 2014, Chambéry, France. Computer-Assisted Medical Interventions. Scientific problems, tools and clinical applications, 2014 |
|
|
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⟩ |
|
|
A Cutting Guide Positioner Robot to Improve Bone-Cutting Precision in Knee OsteotomyCAOS 2004 - 4th Annual Meeting of Computer Assisted Orthopaedic Surgery, Jun 2004, Chicago, United States. pp.301-302, 2004 |
|
|
Effect of Non-passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case StudyNew Trends in Medical and Service Robots, Mechanisms and Machine Science (39), pp.1-14, 2016, Human Centered Analysis, Control and Design, 978-3-319-30674-2. ⟨10.1007/978-3-319-30674-2_1⟩ |
|
|
Influence of Spring Characteristics on the Behavior of Tensegrity MechanismsAdvances in Robot Kinematics, pp.161-169, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_18⟩ |
Vision-Based ControlJocelyne Troccaz. Medical Robotics, Wiley, pp.177-232, 2013, 978-1-84-821-334-0. ⟨10.1002/9781118562147.ch6⟩ |
|
Contribution des différentes taches graphiques à l'évaluation du tremblement essentielRevue Neurologique, 169(S2), Elsevier Masson, pp.A136-A137, 2013, ⟨10.1016/j.neurol.2013.01.325⟩ |
|
Design of Medical RobotsJocelyne Troccaz. Medical Robotics, Wiley, pp.141-176, 2012, 978-1-84821-334-0 |
|
Interaction Modeling and Force ControlJocelyne Troccaz. Medical Robotics, John Wiley, pp.233-267, 2012, 978-1-84821-334-0 |
|
Motion tracking for beating heart surgeryJacob Rosen and Blake Hannaford and Richard Satava. Surgical Robotics - Systems Applications and Visions, Springer, pp.497-524, 2011, ⟨10.1007/978-1-4419-1126-1⟩ |
|
Motion prediction and 3D tracking of the beating heartJacob Rosen and Blake Hannaford and Richard Satava. Surgical robotics - Systems, Applications and Visions, pp.N/A, 2010 |
|
On the Design of a Fast Parallel Robot Based on Its Dynamic ModelExperimental Robotics, Springer, pp.409-419, 2008, 978-3-540-77456-3. ⟨10.1007/978-3-540-77457-0⟩ |
|
Rehabilitation of the Paralyzed Lower Limbs Using Functional Electrical Stimulation: Robust Closed Loop ControlCutting Edge Robotics - Rehabilitation Robotics, pp.337-358, 2007, 978-3-902613-04-2 |
|
Geometrical Control Approach for Minimally Invasive SurgeryT.M. Buzug; T.C. Lueth. Perspective in Image-Guided Surgery, World Scientific Publishing, pp.152-159, 2004, 981-238-872-9 |
|
Optimisation of the Robot Placement in the Operating RoomT.M. Buzug; T.C. Lueth. Perspective in Image-Guided Surgery, World Scientific Publishing, pp.383-390, 2004, 981-238-872-9 |
|
Robotized Skin HarvestingExperimental Robotics VIII, 5, Springer Tracts in Advanced Robotics (STAR Series), Springer-Verlag, pp.404-413, 2003, 3-540-00305-3 |
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 |
|
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 |
|
Mécanisme de manipulation d’un instrument chirurgicalFrance, N° de brevet: FR2004320A. 2020 |
|
Système de sécurisation d’un patient adapté à une chirurgie de l’œilFrance, N° de brevet: FR2011777A. 2020 |
|
Interface de pilotage et système robotisé comprenant une telle interface de pilotageFrance, N° de brevet: FR20200004321. 2020 |
|
Dispositif médical pour la chirurgie de l’oeilFrance, N° de brevet: FR1872462A. 2018 |