Development and control of a robotic system for no-scar surgery
Identifieur interne : 000047 ( Hal/Curation ); précédent : 000046; suivant : 000048Development and control of a robotic system for no-scar surgery
Auteurs : Antonio De Donno [France]Source :
Descripteurs français
English descriptors
Abstract
No-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery (MIS). The lack of adequate instrumentation is one of the issues to its clinical routine use. In this context, we introduce a novel teleoperated surgical robot, consisting of an endoscope and two flexible instruments, with 10 motorized DOFs. This thesis investigates the possibilities to control the system. The robot kinematics is analyzed, and differentmaster/slave control strategies, ranging from joint to Cartesian control, are proposed. These strategies have been tested on a specifically developed virtual simulator and on the real system in laboratory and ex-vivo experiments. The results show that a single user is capable to control the robotic system and to perform complex tasks by means of two haptic interfaces.
Url:
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000047
Links to Exploration step
Hal:tel-01124226Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Development and control of a robotic system for no-scar surgery</title><title xml:lang="fr">Développement et contrôle d'un système robotique pour la chirurgie sans cicatrice</title><author><name sortKey="De Donno, Antonio" sort="De Donno, Antonio" uniqKey="De Donno A" first="Antonio" last="De Donno">Antonio De Donno</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-217648" status="VALID"><orgName>Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie</orgName><orgName type="acronym">ICube</orgName><desc><address><addrLine>300 bd Sébastien Brant - BP 10413 - F-67412 Illkirch Cedex</addrLine><country key="FR"></country></address><ref type="url">http://icube.unistra.fr/</ref></desc><listRelation><relation active="#struct-301232" type="direct"></relation><relation active="#struct-199013" type="direct"></relation><relation active="#struct-94023" type="direct"></relation><relation name="UMR7357" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-301232" type="direct"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName><orgName type="acronym">INSA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-199013" type="direct"><org type="institution" xml:id="struct-199013" status="VALID"><orgName>Université de Strasbourg</orgName><orgName type="acronym">UNISTRA</orgName><desc><address><addrLine>4 rue Blaise Pascal - CS 90032 - 67081 Strasbourg cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.unistra.fr/</ref></desc></org></tutelle><tutelle active="#struct-94023" type="direct"><org type="institution" xml:id="struct-94023" status="VALID"><orgName>École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg</orgName><orgName type="acronym">ENGEES</orgName><desc><address><addrLine>1 quai Koch - BP 61039 - 67070 Strasbourg Cedex</addrLine><country key="FR"></country></address><ref type="url">https://engees.unistra.fr</ref></desc></org></tutelle><tutelle name="UMR7357" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"> <idno type="IdRef">02636817X</idno> <idno type="ISNI">0000000122597504</idno> <orgName>Centre National de la Recherche Scientifique</orgName> <orgName type="acronym">CNRS</orgName> <date type="start">1939-10-19</date> <desc> <address> <country key="FR"></country> </address> <ref type="url">http://www.cnrs.fr/</ref> </desc> </org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Strasbourg</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Alsace (région administrative)</region></placeName><orgName type="university">Université de Strasbourg</orgName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:tel-01124226</idno><idno type="halId">tel-01124226</idno><idno type="halUri">https://tel.archives-ouvertes.fr/tel-01124226</idno><idno type="url">https://tel.archives-ouvertes.fr/tel-01124226</idno><date when="2013-12-13">2013-12-13</date><idno type="wicri:Area/Hal/Corpus">000047</idno><idno type="wicri:Area/Hal/Curation">000047</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Development and control of a robotic system for no-scar surgery</title><title xml:lang="fr">Développement et contrôle d'un système robotique pour la chirurgie sans cicatrice</title><author><name sortKey="De Donno, Antonio" sort="De Donno, Antonio" uniqKey="De Donno A" first="Antonio" last="De Donno">Antonio De Donno</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-217648" status="VALID"><orgName>Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie</orgName><orgName type="acronym">ICube</orgName><desc><address><addrLine>300 bd Sébastien Brant - BP 10413 - F-67412 Illkirch Cedex</addrLine><country key="FR"></country></address><ref type="url">http://icube.unistra.fr/</ref></desc><listRelation><relation active="#struct-301232" type="direct"></relation><relation active="#struct-199013" type="direct"></relation><relation active="#struct-94023" type="direct"></relation><relation name="UMR7357" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-301232" type="direct"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName><orgName type="acronym">INSA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-199013" type="direct"><org type="institution" xml:id="struct-199013" status="VALID"><orgName>Université de Strasbourg</orgName><orgName type="acronym">UNISTRA</orgName><desc><address><addrLine>4 rue Blaise Pascal - CS 90032 - 67081 Strasbourg cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.unistra.fr/</ref></desc></org></tutelle><tutelle active="#struct-94023" type="direct"><org type="institution" xml:id="struct-94023" status="VALID"><orgName>École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg</orgName><orgName type="acronym">ENGEES</orgName><desc><address><addrLine>1 quai Koch - BP 61039 - 67070 Strasbourg Cedex</addrLine><country key="FR"></country></address><ref type="url">https://engees.unistra.fr</ref></desc></org></tutelle><tutelle name="UMR7357" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"> <idno type="IdRef">02636817X</idno> <idno type="ISNI">0000000122597504</idno> <orgName>Centre National de la Recherche Scientifique</orgName> <orgName type="acronym">CNRS</orgName> <date type="start">1939-10-19</date> <desc> <address> <country key="FR"></country> </address> <ref type="url">http://www.cnrs.fr/</ref> </desc> </org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Strasbourg</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Alsace (région administrative)</region></placeName><orgName type="university">Université de Strasbourg</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Haptic interfaces</term><term>Surgical robotics</term><term>Teleoperation</term><term>Virtual simulation</term></keywords><keywords scheme="mix" xml:lang="fr"><term>Interfaces haptiques</term><term>Robotique chirurgicale</term><term>Simulation virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">No-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery (MIS). The lack of adequate instrumentation is one of the issues to its clinical routine use. In this context, we introduce a novel teleoperated surgical robot, consisting of an endoscope and two flexible instruments, with 10 motorized DOFs. This thesis investigates the possibilities to control the system. The robot kinematics is analyzed, and differentmaster/slave control strategies, ranging from joint to Cartesian control, are proposed. These strategies have been tested on a specifically developed virtual simulator and on the real system in laboratory and ex-vivo experiments. The results show that a single user is capable to control the robotic system and to perform complex tasks by means of two haptic interfaces.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Development and control of a robotic system for no-scar surgery</title><title xml:lang="fr">Développement et contrôle d'un système robotique pour la chirurgie sans cicatrice</title><author role="aut"><persName><forename type="first">Antonio</forename><surname>De Donno</surname></persName><idno type="halauthorid">1137043</idno><affiliation ref="#struct-217648"></affiliation></author><editor role="depositor"><persName><forename>ABES</forename><surname>STAR</surname></persName><email type="md5">f5aa7f563b02bb6adbba7496989af39a</email><email type="domain">abes.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2015-03-06 05:59:49</date><date type="whenModified">2018-02-07 01:01:29</date><date type="whenReleased">2015-03-10 10:47:51</date><date type="whenProduced">2013-12-13</date><date type="whenEndEmbargoed">2015-03-06</date><ref type="file" target="https://tel.archives-ouvertes.fr/tel-01124226/document"><date notBefore="2015-03-06"></date></ref><ref type="file" subtype="author" n="1" target="https://tel.archives-ouvertes.fr/tel-01124226/file/2013STRAD046.pdf"><date notBefore="2015-03-06"></date></ref></edition><respStmt><resp>contributor</resp><name key="131274"><persName><forename>ABES</forename><surname>STAR</surname></persName><email type="md5">f5aa7f563b02bb6adbba7496989af39a</email><email type="domain">abes.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">tel-01124226</idno><idno type="halUri">https://tel.archives-ouvertes.fr/tel-01124226</idno><idno type="halBibtex">dedonno:tel-01124226</idno><idno type="halRefHtml">Surgery. Université de Strasbourg, 2013. English. 〈NNT : 2013STRAD046〉</idno><idno type="halRef">Surgery. Université de Strasbourg, 2013. English. 〈NNT : 2013STRAD046〉</idno></publicationStmt><seriesStmt><idno type="stamp" n="STAR">STAR - Dépôt national des thèses électroniques</idno><idno type="stamp" n="UNIV-STRASBG">Université de Strasbourg</idno><idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno><idno type="stamp" n="AGREENIUM">Archive ouverte en agrobiosciences</idno><idno type="stamp" n="ENGEES">Ecole Nationale du Génie de l'Eau et de l'Environnement de Strasbourg</idno><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno></seriesStmt><notesStmt></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Development and control of a robotic system for no-scar surgery</title><title xml:lang="fr">Développement et contrôle d'un système robotique pour la chirurgie sans cicatrice</title><author role="aut"><persName><forename type="first">Antonio</forename><surname>De Donno</surname></persName><idno type="halauthorid">1137043</idno><affiliation ref="#struct-217648"></affiliation></author></analytic><monogr><idno type="nnt">2013STRAD046</idno><imprint><date type="dateDefended">2013-12-13</date></imprint><authority type="institution">Université de Strasbourg</authority><authority type="school">École doctorale Mathématiques, sciences de l'information et de l'ingénieur (Strasbourg)</authority><authority type="supervisor">Michel De Mathelin</authority><authority type="jury">Philippe Cinquin [Président]</authority><authority type="jury">Arianna Menciassi [Rapporteur]</authority><authority type="jury">Jérome Szewczyk [Rapporteur]</authority><authority type="jury">Florent Nageotte</authority></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">Surgical robotics</term><term xml:lang="en">Teleoperation</term><term xml:lang="en">Haptic interfaces</term><term xml:lang="en">Virtual simulation</term><term xml:lang="fr">Robotique chirurgicale</term><term xml:lang="fr">Interfaces haptiques</term><term xml:lang="fr">Simulation virtuelle</term></keywords><classCode scheme="halDomain" n="sdv.mhep.chi">Life Sciences [q-bio]/Human health and pathology/Surgery</classCode><classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode><classCode scheme="halTypology" n="THESE">Theses</classCode></textClass><abstract xml:lang="en">No-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery (MIS). The lack of adequate instrumentation is one of the issues to its clinical routine use. In this context, we introduce a novel teleoperated surgical robot, consisting of an endoscope and two flexible instruments, with 10 motorized DOFs. This thesis investigates the possibilities to control the system. The robot kinematics is analyzed, and differentmaster/slave control strategies, ranging from joint to Cartesian control, are proposed. These strategies have been tested on a specifically developed virtual simulator and on the real system in laboratory and ex-vivo experiments. The results show that a single user is capable to control the robotic system and to perform complex tasks by means of two haptic interfaces.</abstract><abstract xml:lang="fr">La chirurgie sans cicatrices, visant à réaliser des opérations chirurgicales sans cicatrices visibles, est l'avant-garde dans le domaine de la chirurgie mini-invasive. L'absence d'instruments adéquats est l'un des freins à son utilisation en routine clinique. Dans ce contexte, nous introduisons un nouveau robot chirurgical téléopéré, composé d'un endoscope et de deux instruments flexibles, avec 10 DDL motorisés. Cette thèse explore les différentes façons de contrôler le système. La cinématique du robot est analysée et différentes stratégies de contrôle maître/esclave, allant du contrôle articulaire au Cartésien, sont proposées. Ces stratégies ont été testés sur un simulateur virtuel ainsi que sur le système réel en laboratoire et en ex-vivo. Les résultats montrent qu’un seul utilisateur est capable de contrôler le robot et d’effectuer des tâches complexes en utilisant deux interfaces haptiques.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Wicri/Psychologie/explor/BernheimV1/Data/Hal/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000047 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Hal/Curation/biblio.hfd -nk 000047 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Wicri/Psychologie
|area= BernheimV1
|flux= Hal
|étape= Curation
|type= RBID
|clé= Hal:tel-01124226
|texte= Development and control of a robotic system for no-scar surgery
}}
| This area was generated with Dilib version V0.6.33. |  |