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Téléopération avec retour d'efforts pour les interventions percutanées

Abstract : Interventional radiology is a minimally-invasive surgical technique, which allows to reach internal organs with a needle, thanks to CT-scan guidance. It has several benefits in comparison with classical surgery but, unfortunately it also expose the radiologists to harmful X-rays. To cope with this problem, we have developed a force-feedback teleoperation system. Its specifications have been established from in vivo experiments, which have also been used to model the interaction forces during needle insertion. The proposed teleoperation system is consistent with the constraints of CT-images and the needs of practitioners. We have studied several bilateral structures and determined the best one for the application. To enhance the haptic perception, we have developed two methods. The first one is based on the automatic tuning of the force controller at the master side. The second method is an algorithm to detect and enhance transitions during the insertion.
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Contributor : Laurent Barbé <>
Submitted on : Tuesday, April 15, 2008 - 3:24:09 PM
Last modification on : Friday, October 23, 2020 - 4:40:16 PM
Long-term archiving on: : Friday, September 28, 2012 - 12:41:04 PM


  • HAL Id : tel-00273534, version 1



Laurent Barbé. Téléopération avec retour d'efforts pour les interventions percutanées. Automatique / Robotique. Université Louis Pasteur - Strasbourg I, 2007. Français. ⟨tel-00273534⟩



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