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Méthodes et procédés pour l'assistance à la chirurgie laparoscopique par comanipulation

Abstract : The context of this work is the development of tools in order to improve the tissues stiffness perception for cobot-assisted laparoscopic surgery. During manual procedures, this perception is distorted, notably by the fulcrum effect, due to the kinematic constraints induced by the trocar. This thesis is developed in two parts. In a first part, we study the fulcrum effect and how it distorts the perception of a user manipulating the tool in collaboration with a robot. From this model, we propose a strategy in order to compensate for this distortion. A validation experiment for this strategy is then proposed. In a second part, we discuss the design of a new architecture with RCM kinematics, integrating both structure and actuation for lightweight robotic applications. In this context, we present an approach to design articulated origami systems, manufactured using multi-material processes.
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Submitted on : Wednesday, March 25, 2020 - 5:42:12 PM
Last modification on : Monday, March 30, 2020 - 3:09:00 PM


Version validated by the jury (STAR)


  • HAL Id : tel-02519050, version 2


François Schmitt. Méthodes et procédés pour l'assistance à la chirurgie laparoscopique par comanipulation. Automatique / Robotique. Université de Strasbourg, 2019. Français. ⟨NNT : 2019STRAD033⟩. ⟨tel-02519050v2⟩



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