Thèses et stages en cours

Jump to: navigation, search

PhD thesis

Quentin Boehler

Design of robotic systems for MRI-guided surgery

Summary

The project aims at developing robotic systems for surgical tools manipulation in an MR-environment. The work focuses on actuated tensegrities which are newly considered in robotic field.

Firstly, the thesis aims at finding a design process of these cable- and strut-composed systems, which are usually used as structures. Then, actuation technologies will be studied.

Finally, this thesis will focus on the control of these very specific systems.


Arnaud Bruyas

Active structures and new architectures for MR compatible robotic

Nadège Corbin

Magnetic Resonance Elastography (MRE) for planning and monitoring of thermo-therapy in interventional MRI

Summary

Tumors can be treated using thermal ablations in percutaneous (“through the skin”) procedures under magnetic resonance (MR) guidance. However, thermo-therapy has to be monitored so that only the target tissue is destroyed while surrounding healthy tissue is not damaged. Magnetic resonance elastography (MRE) is a non-invasive way to measure tissue elasticity, a property that changes with most tumors but also when tissue is burned or frozen, like in thermo-ablations. The objective of this PhD thesis is to develop and optimize an all-in-one interventional MRE approach for procedure planning and therapy monitoring. Correlation between temperature and elasticity maps, obtained with MR thermometry and MRE, respectively, will be studied. That PhD focuses on the development of real time MRE-based pulse sequences.

Laure-Anaïs Chanel

Assistance to High Intensity Focused Ultrasound (HIFU) therapy: Real-time physiological motion compensation using motion tracking by ultrasound imaging

Summary

High Intensity Focused Ultrasound (HIFU) is the only non-invasive, non-ionizing method for the ablation of solid tumors. During HIFU therapy, high intensity ultrasound beams are focused within the region to be treated (e.g., tumor), and the absorption of the acoustic energy allows for localized heating of the tissue, leading to its ablation within the focal region. Despite its great potential, the use of HIFU therapy is very limited, due to major technological challenges that still need to be addressed. Physiological motion compensation is one of the essential challenges that need to be solved: it is essential to ensure that the focus follows accurately the region to be treated and to avoid unwanted damage to surrounding, healthy tissue. This PhD thesis project will aim at developing an all-in-one robotized HIFU solution with active compensation of physiological motion, based on real-time feedback control using motion estimated by ultrasound imaging.


Ryad Chellal

Commande robuste des manipulateurs parallèles à câbles

  • PhD advisors : Edouard Laroche and Jacques Gangloff
  • Co-advisor : Loïc Cuvillon
  • Financing : Bourse ministérielle
  • Starting date : October 2010


Antonio De Donno

Français | English

Commande d'un système robotique pour la chirurgie endoscopique à accès unique

  • PhD advisor : Michel de Mathelin
  • Co-advisor : Florent Nageotte
  • Financing : Bourse doctorant CNRS
  • Starting date : October 2010

Nitish Kumar

Mechatronic design and development of a robotic needle insertion device

  • Financement : IHU
  • Date de début : November 2011

Context: This project aims at advancing the technology used in interventional radiology and more specifically robotic devices. In this medical specialty, radiologists perform percutaneous needle insertions for diagnostic or treatment purposes under visual guidance using different imaging modalities. One of the most commonly used imaging devices are CT-scans which provide an unrivaled spatial resolution. Their major drawbacks remain the harmful X-rays exposure for the medical staff.

Our research team has gained a strong expertise in the development of robotic devices to help practitioners in such medical procedures. A first prototype of a robotized needle insertion assistant named CT-Bot has been designed and fabricated to help radiologist to insert needles remotely while providing him with haptic feedback. This implementation has opened new research tracks to be explored before starting using the device in clinical routine.

A steady trend of dedicated robotic systems designed for medical applications is the decreasing of their characteristic dimensions. The development of devices in medical robotics strongly depends on both the design choices and the selected manufacturing processes to provide mechanical structures with suitable properties. Within this context, a mechatronic design approach using plastic parts can provide solutions to invent new lightweight and onpatient robots. Another important aspect is the actuation technology to be selected or developed to obtain the required force capability on a lightweight robotic device. The construction of a prototype will allow the validation of the selected design approaches and technologies.


Laure Esteveny

Assistant robotique d'insertion d'aiguille _____________________________________________________________________________________

  • Financing : Bourse de la Région Alsace
  • Starting date : October 2010


Markus Neumann

Asservissement Visuel en Imagerie par Résonance Magnétique – Application à la radiologie interventionnelle