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Vers la commande en boucle fermée d'un robot porte-optique : apport de l'analyse contextuelle d'images endoscopiques.

Abstract : The development of laparoscopy is closely linked to the advances in instrumentation, allowing to combine the efficacy of surgery and a minimally invasive approach. Today, robotic systems can assist a surgeon during a minimally invasive intervention, but their use is still controversial because of their bulkiness, their cost, and the change they might induce to surgical practice. Research trends in this field aim towards a better adaptation of these systems to surgical constraints.

The objective of this Ph.D. Thesis was to control a robotized endoscopic camera holder thanks to " high-level " commands mimicking the task of the assistant in charge of manipulating the endoscope in conventional laparoscopy. First, I built a model of the field of laparoscopic surgery highlighting the role of the assistant. It allowed me to identify the commands primitives to develop. Then, I worked on the conception and development of the selected command primitives, especially a command dedicated to the robot's automatic tracking of surgical instruments based on the analysis of the endoscopic images. The instrument detection algorithm was first validated on numerized images extracted from surgical procedures. Then a cadaver experiment was performed, during which we were able to track a surgical instrument with the robot, in conditions close to clinical conditions.
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Contributor : Sandrine Voros <>
Submitted on : Monday, February 18, 2008 - 6:03:54 PM
Last modification on : Tuesday, December 8, 2020 - 3:42:43 AM


  • HAL Id : tel-00257239, version 1


Sandrine Voros. Vers la commande en boucle fermée d'un robot porte-optique : apport de l'analyse contextuelle d'images endoscopiques.. Interface homme-machine [cs.HC]. Université Pierre et Marie Curie - Paris VI, 2006. Français. ⟨tel-00257239⟩



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