Automatic Localization of Laparoscopic Instruments for the Visual Servoing of an Endoscopic Camera Holder, Publications et brevet liés à ce travail de thèse Ce travail de thèse a donné lieu à trois publications dans des conférences internationales à comité de lecture : th International Conference on Medical Image Computing and Computer Assisted Surgery LNCS 4190, pp.535-542, 2006. ,
DOI : 10.1007/11866565_66
URL : https://hal.archives-ouvertes.fr/hal-00385051
Tracking of laparoscopic instruments for the visual servoing of a robotized camera holder, Proceedings of the 20 th International Congress Computer Assisted Radiology and Surgery (CARS), pp.211-213, 2006. ,
URL : https://hal.archives-ouvertes.fr/hal-00385061
Automatic detection of instruments in laparoscopic images: a first step towards high level command of robotized endoscopic holders, electronic proceedings of the 1 st IEEE, RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), pp.20-22, 2006. ,
Détection automatique d'un outil chirurgical sur une image fournie par un système d'imagerie médicale, brevet français soumis le 17 février, 2006. ,
Computer-Integrated Surgery -technology and clinical applications, 1996. ,
Computer assisted medical interventions, NATO ARW, 3D Imaging in Medicine, pp.301-312, 1990. ,
Computer assisted medical interventions, IEEE Engineering in Medicine and Biology Magazine, vol.14, issue.3, pp.254-263, 1995. ,
DOI : 10.1109/51.391779
Image guided operating robot: a clinical application in stereotactic neurosurgery, Proceedings 1992 IEEE International Conference on Robotics and Automation, pp.618-625, 1992. ,
DOI : 10.1109/ROBOT.1992.220223
Development of a Surgical Robot for Cementless Total Hip Arthroplasty, Clinical Orthopaedics and Related Research, vol.&NA;, issue.285, pp.57-66 ,
DOI : 10.1097/00003086-199212000-00010
Guiding systems for computer assisted surgery: introducing synergistic devices, Medical Image Analysis, issue.22, 1998. ,
PADYC : A Passive Arm with Dynamic Constraints, International Conference on Advanced Robotics, pp.361-366, 1993. ,
A Six Degree of Freedom Passive Arm with Dynamic Constraints (PADyC) for Cardiac Surgery Application: Preliminary Experiments. Computer-Aided Surgery, special issue on medical robotics, pp.340-351, 2001. ,
Computer-driven Robot for Stereotactic Surgery Connected to CT Scan and Magnetic Resonance Imaging. Technological Design and Preliminary Results, Application Neurophysiology, vol.50, pp.153-154, 1987. ,
Computer assisted knee ligament reconstruction, Proceedings of the 15th Annual International Conference of the IEEE Engineering in Medicine and Biology Societ, pp.936-937, 1993. ,
DOI : 10.1109/IEMBS.1993.978942
CT and MR Compatible Light Puncture Robot: Architectural Design and First Experiments, Medical Image Computing and Computer Assisted Interventions, pp.145-152, 2004. ,
A robust ultrasound-based visual servoing approach for automatic guidance of a surgical instrument with in vivo experiments, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., 2006. ,
DOI : 10.1109/BIOROB.2006.1639056
URL : https://hal.archives-ouvertes.fr/hal-01170702
Heartbeat synchronization for robotic cardiac surgery, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), pp.2014-2019, 2001. ,
DOI : 10.1109/ROBOT.2001.932903
Computers in imaging and guided surgery, Computing in Science & Engineering, vol.3, issue.5, pp.65-72, 2001. ,
DOI : 10.1109/5992.947109
Development and testing of a compact endoscope manipulator for minimally invasive surgery, Journal of Computer Aided Surgery, vol.10, issue.1, pp.1-13, 2005. ,
URL : https://hal.archives-ouvertes.fr/hal-00195039
Diffusion de la chirurgie coelioscopique en France. Quels enjeux économiques ?, rapport, 1994. ,
Rapport sur l'activité de laparoscopie à l'AFU, La laparoscopie en Urologie -Prog, Urol. (AFU), pp.843-847, 1999. ,
Cholécystectomie et exploration de la voie biliaire principale par coelioscopie. Editions Techniques -Encycl, Techniques chirurgicales -Généralités-Appareil digestif, pp.40-950, 1993. ,
Le matériel spécifique, La laparoscopie en Urologie -Prog. Urol. (AFU). 1999, Les Editions Vingt et un, pp.861-865 ,
Laparoscopic gastric bypass for gastric outlet obstruction is associated with smoother, faster recovery and shorter hospital stay compared with open surgery, Journal of Hepato-Biliary-Pancreatic Surgery, vol.166, issue.6, pp.12-474, 2005. ,
DOI : 10.1007/s00534-005-1013-0
Update on laparoscopic surgery: surgeon's point of view, Pediatric Anesthesia, vol.91, issue.5, pp.421-424, 2004. ,
DOI : 10.1007/s00464-001-9151-1
Laparoscopic appendectomy for perforated appendicitis: a comparison with open appendectomy, Surgical Endoscopy, vol.65, issue.7, pp.1051-1055, 2006. ,
DOI : 10.1007/s00464-005-0342-z
Laparoscopic radical nephrectomy for T1 renal cancer: the gold standard? A comparison of laparoscopic vs open nephrectomy, BJU International, vol.34, issue.1, pp.93-67, 2004. ,
DOI : 10.1016/S0090-4295(98)00159-9
Laparoscopic Versus Open Appendectomy in Children, Annals of Surgery, vol.243, issue.1, pp.17-27, 2006. ,
DOI : 10.1097/01.sla.0000193602.74417.14
Robotic Surgery: Urologic Implications, Journal of Endourology, vol.17, issue.9, pp.695-708, 2003. ,
DOI : 10.1089/089277903770802209
Augmented Reality Visualization for Laparoscopic Surgery, proceedings of Medical Image Computing and Computer Assisted Interventions (MICCAI) p, pp.934-943, 1998. ,
Towards endoscopic augmented reality for robotically assisted minimally invasive cardiac surgery, Proceedings International Workshop on Medical Imaging and Augmented Reality, 2001. ,
DOI : 10.1109/MIAR.2001.930258
Computer-Assisted Stereotactic Surgery, Stereotactic and Functional Neurosurgery, vol.45, issue.4-5, pp.396-398, 1982. ,
DOI : 10.1159/000101630
Commande par vision d'un robot de chirurgie laparoscopique (Institut National Polytechnique de Lorraine, Thèse de doctorat, 2003. ,
Comparison of task performance of robotic camera holders EndoAssist and AESOP. Computer Assisted Radiology and Surgery, proc. of the 15th Intl. congress and exhibition, pp.1071-1074, 2001. ,
Bras robotisé à commande vocale pour la chirurgie endoscopique, 2000. ,
http://www.armstronghealthcare .com/ 36 Société MedSys (robot porte-endoscope LapMan) ,
Comparison of Robotic Versus Human Laparoscopic Camera Control, f 38. Société Intuitive Surgical, pp.2134-2140, 1995. ,
DOI : 10.1016/S0022-5347(01)66715-6
Optimizing motion scaling and magnification in robotic surgery, Surgery, vol.136, issue.2, pp.291-295, 2004. ,
DOI : 10.1016/j.surg.2004.05.002
Transcontinental Robot-Assisted Remote Telesurgery: Feasibility and Potential Applications, Annals of Surgery, vol.235, issue.4, pp.487-92, 2002. ,
DOI : 10.1097/00000658-200204000-00005
URL : http://www.ncbi.nlm.nih.gov/pmc/articles/PMC1422462
Robotic laparoscopic surgery: a comparison of the da Vinci and Zeus systems, Urology, vol.58, issue.6, pp.893-901, 2001. ,
DOI : 10.1016/S0090-4295(01)01423-6
Robotically assisted laparoscopic dismembered pyeloplasty: a chronic porcine study, Urology, vol.61, issue.5, pp.61-1063, 2003. ,
DOI : 10.1016/S0090-4295(02)02546-3
Comparison of two-dimensional vs threedimensional camera systems in laparoscopic surgery, Surg Endosc, issue.5, pp.11-438, 1997. ,
Robotics and telesurgery ??? an update on their position in laparoscopic radical prostatectomy, Minimally Invasive Therapy & Allied Technologies, vol.31, issue.2, pp.109-131, 2005. ,
DOI : 10.1016/S0022-5223(99)70428-9
Pe s c he l , and G . B a r t s c h, Current status o robotics in urologic laparoscopy, Eur Urol, vol.43, issue.2, pp.106-118, 2003. ,
Telesurgery, telementoring, virtual surgery, and telerobotics, Current Urology Reports, vol.235, issue.suppl 1, pp.109-122, 2003. ,
DOI : 10.1007/s11934-003-0036-9
A telerobotic assistant for laparoscopic surgery, IEEE Engineering in Medicine and Biology Magazine, vol.14, issue.3, pp.279-288, 1995. ,
DOI : 10.1109/51.391776
A New Safe Laparoscopic Manipulator System with a Five-Bar Linkage Mechanism and an Optical Zoom Journal of Computer Aided Surgery, pp.182-192, 1999. ,
Development of a compact cable-driven laparoscopic endoscope manipulator, MICCAI, pp.17-24, 2002. ,
LER: the light endoscope robot, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp.2835-2840, 2003. ,
DOI : 10.1109/IROS.2003.1249300
URL : https://hal.archives-ouvertes.fr/hal-00195032
Utilisation de la robotique en chirurgie laparoscopique : revue de la littérature et développement pré-clinique du robot LER du laboratoire TIMC, Thèse de Médecine, 2005. ,
Compact Camera Assistant Robot for Minimally Invasive Surgery: KaLAR, proceedings of the IEEE, RSJ International Conference on Intelligent Robots and Systems, 2004. ,
Mobile In V vo Camera Robots Provide Sole Visual Feedback for Abdominal Exploration and Cholecystectomy, Journal of Surgical Endoscopy, vol.20, issue.1, pp.135-138, 2006. ,
Small Occupancy Robotic Mechanisms for Endoscopic Surgery, proccedings of MICCAI, pp.75-82, 2002. ,
Modular, Teleoperated Robotic Minimally Invasive Surgery System, electronic proceedings of the IEEE, EMBS conference on Biomedical Robotics and Biomechatronics, 2006. ,
Commande en Effort des Systèmes Robotiques pour la Chirurgie Mini-Invasive, Thèse de doctorat, 2005. ,
Real-Time Visual Tracking of the Surgeon's Face for Laparoscopic Surgery, proceedings of MICCAI, pp.9-16, 2001. ,
The Black Falcon: A Teleoperated Surgical Instrument for Minimally Invasive Surgery, proceedings of the IEEE, RSJ International Conference on Intelligent Robots and Systems Sensable Technologies, pp.936-944, 1998. ,
Robotics for Telesurgery: Second Generation Berkeley/UCSF Laparoscopic Telesurgical Workstation and Looking towards the Future Applications, Proceedings of the 39th Allerton Conference on Communication, Control and Computing, 2001. ,
Laser-pointing endoscope system for intra-operative 3D geometric registration, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), pp.1543-1548, 2001. ,
DOI : 10.1109/ROBOT.2001.932830
Automatic guidance of an assistant robot in laparoscopic surgery, Proceedings of IEEE International Conference on Robotics and Automation, pp.895-900, 1996. ,
DOI : 10.1109/ROBOT.1996.503886
Automated Image Rectification in V deo-Endoscopy proceedings of MICCAI, Société Northern Digital Inc, vol.67, pp.1412-1414, 2001. ,
Autonomous 3-d positioning of surgical instruments in robotized laparoscopic surgery using visual servoing, IEEE Transactions on Robotics and Automation, vol.19, issue.5, pp.842-853, 2003. ,
DOI : 10.1109/TRA.2003.817086
Navigating inner space: 3-D assistance for minimally invasive surgery, Robotics and Autonomous Systems, vol.52, issue.1, pp.5-26, 2005. ,
DOI : 10.1016/j.robot.2005.03.013
Model predictive control for compensation of cyclic organ motions in teleoperated laparoscopic surgery, IEEE Transactions on Control Systems Technology, vol.14, issue.2, pp.235-246, 2004. ,
DOI : 10.1109/TCST.2005.863650
Spatial Motion Constraints for Robot Assisted Suturing using Virtual Fixtures, proceedings of MICCAI, pp.89-96, 2005. ,
Contributions à la Suture Assistée par Ordinateur en Chirurgie Mini-invasive, Thèse de Doctorat, 2005. ,
Automatic Detection and Segmentation of Robot-Assisted Surgical Motions, proceedings of MICCAI, pp.802-810, 2005. ,
De la neurochirurgie guidée par l'image au processus neurochirurgical assisté par la connaissance et l'information, mémoire d'habilitation à diriger des recherches (HDR) ,
An Ontological Analysis of Surgical Deeds Unified Medical Language System, umlsinfo.nlm.nih.gov/ 78, Proceedings of Artificial Intelligence in Medicine Europe (AIME-97, pp.361-372, 1997. ,
Model of Surgical Procedures for Multimodal Image-Guided Neurosurgery, Computer Aided Surgery, vol.4, issue.37, pp.98-106, 2003. ,
DOI : 10.1016/S1386-5056(00)00077-0
URL : https://hal.archives-ouvertes.fr/inserm-00330538
Hierarchical decomposition of laparoscopic surgery: a human factors approach to investigating the operating room environment Minim Invasive Ther & Allied Technol, pp.121-127, 2001. ,
Chirurgie augmentée, un cas de réalité augmentée -conception et réalisation centrées sur l'utilisateur, Thèse de Doctorat, 2001. ,
Etude et réalisation d'un système de localisation en six dimensions pour la chirurgie assistée par ordinateur, Thèse de Doctorat, 2001. ,
Automatic instrument tracking with a compact laparoscopic endoscope robot using an external optical localizer, Proceedings of Surgetica, pp.17-24, 2002. ,
Computer Integrated Surgery and Therapy: State of the Art, Contemporary perspectives in Three-Dimensional Biomedical Imaging, C. Roux and J.-L ,
Reconstruction tridimensionnelle d'images endoscopiques, Sciences et Technologies de l'Information, 2006. ,
Evaluation of EM tracking systems for laparoscopic liver surgery, Proceedings of Computer Assisted Radiology and Surgery, pp.215-218, 2006. ,
Measuring and modelling metal artifacts of a CT table on AC electromagnetic tracking system accuracy, Proceedings of Computer Asssisted Radiology and Surgery, pp.171-173, 2006. ,
Real-Time Visual Servoing for Laparoscopic Surgery. Controlling Robot Motion with Color Image Segmentation, IEEE Engineering in Medicine and Biology, issue.16, pp.40-45, 1997. ,
Image analysis-based approach for localization of endoscopic tools, Proceedings of Surgetica'05, pp.221-228, 2005. ,
Application of visual tracking for robot-assisted laparoscopic surgery, Journal of Robotic Systems, vol.11, issue.7, pp.315-328, 2002. ,
DOI : 10.1002/rob.10043
Automated instrument tracking in robotically assisted laparoscopic surgery, Journal of Image Guided Surgery, vol.1, issue.6, pp.308-325, 1995. ,
DOI : 10.1002/(SICI)1522-712X(1995)1:6<308::AID-IGS3>3.0.CO;2-E
A new framework for vision-enabled an robotically assisted minimally invasive surgery. Computerized Medical Imaging and Graphics, pp.429-437, 1998. ,
Towards Video Understanding of Laparoscopic Surgery: Instrument Tracking, proceedings of Image and Vision Computing New Zealand, 2005. ,
Real-time segmentation of surgical instruments inside the abdominal cavity using a joint hue saturation color feature. Real-Time Imaging, pp.429-442, 2005. ,
The Role of Insertion Points in the Detection and Positioning of Instruments in Laparoscopy for Robotic Tasks, Medical Image Computing and Computer Assisted Interventions, pp.527-534, 2006. ,
DOI : 10.1007/11866565_65
Automatic Instrument Localization in Laparoscopic Surgery Electronic Letters on Computer Vision and Image Analysis, pp.21-23, 2004. ,
Use of the Hough Transfo mation To Detect Lines and Curves in Pictures, pp.11-15, 1972. ,
Automatic guidance of a laparoscope using computer vision M, 2002. ,
Three Dimensional Computer Vision. A Geometric Viewpoint, 1993. ,
A flexible new technique for camera calibration, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.22, issue.11, pp.1330-1334, 2000. ,
DOI : 10.1109/34.888718
Réalisation de la commande par asservissement visuel d'un robot endoscopique léger, rapport de stage de 3ème année d'IUP (IUP Systèmes Intelligents, 2005. ,
Con ributions à l'intégration vision/robotique: calibrage, localisation et asservissement, Mémoire de thèse de Doctorat (Laboratoire Lifia-Imag, INRIA Rhône-Alpes), 1995. ,
Reconstruction d'une arborescence spatiale à partir d'un nombre minimal de projections : application à l'angiographie numérisée des structures vasculaires, Mémoire de thèse de Doctorat, productique : automatique et informatique industrielle, 1996. ,
Analyse d'images : filtrage et segmentation, pp.108-115, 1995. ,
Symmetry analysis of line drawings using the Hough transform, Pattern Recognition Letters, vol.12, issue.1, pp.9-12, 1991. ,
DOI : 10.1016/0167-8655(91)90022-E
A Threshold Selection Method from Gray-Level Histograms, IEEE Transactions on Systems, Man, and Cybernetics, vol.9, issue.1, pp.62-66, 1979. ,
DOI : 10.1109/TSMC.1979.4310076
D Visual Servoing, IEEE Transaction on Robotics and Automation, vol.2, issue.15, pp.234-246, 1999. ,
URL : https://hal.archives-ouvertes.fr/inria-00073302
A tutorial on visual servo control, IEEE Transactions on Robotics and Automation, vol.12, issue.5, pp.651-670, 1996. ,
DOI : 10.1109/70.538972
Survey of vision-based robot control, European Naval Ship Design, Captain Computer IV Forum, 2002. ,
Asservissements visuels rapides d'un robot manipulateur à six degrés de liberté, Thèse de Doctorat (ENSPS, 2006. ,
Structure Driven Substitition of Specular Reflections for Realtime Heart Surface Tracking, Proceedings of the IEEE International Conference on Image Processing, pp.1066-1069, 2005. ,
Asservissements visuels et chirurgie robotisée, mémoire d'habilitation à diriger des recherches (HDR), 2004. ,