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Theses

Conception optimale d'instruments robotisés à haute mobilité pour la chirurgie mini-invasive

Abstract : This researcher focuses on the optimal design of high mobility robotized systems for minimally invasive surgery. It uses an optimization process based on multi-objective evolutionnary algorithms, coupled to a realistic simulation taking into account all the parameters required for a correct evaluation of the robotic system. This methodology has been applied to the suturing operation of a coronary artery bypass grafting. It leads to the design of a surgical robotized instrument, of 10mm diameter and 9 degrees of freedom : DRIMIS. A prototype has been developped and evaluated.
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https://tel.archives-ouvertes.fr/tel-00762265
Contributor : Damien Sallé <>
Submitted on : Friday, February 8, 2013 - 5:55:56 PM
Last modification on : Wednesday, December 9, 2020 - 3:13:58 PM
Long-term archiving on: : Thursday, May 9, 2013 - 3:52:46 AM

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  • HAL Id : tel-00762265, version 1

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Damien Sallé. Conception optimale d'instruments robotisés à haute mobilité pour la chirurgie mini-invasive. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2004. Français. ⟨tel-00762265⟩

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