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Theses

Robustesse à la variabilité du comportement mécanique du point d'insertion en chirurgie mini-invasive robotisée. Application à la biopsie de prostate

Abstract : Minimally Invasive Surgery (MIS) allows the surgeon to operate without cutting open the patient. This kind of surgery, which consists in the insertion of surgical tools through artificial or natural orifices, is spreading rapidly. Even though this technique presents numerous advantages for the patient, it presents many constraints for the surgeon. Many robotic devices have been developed to improve the working conditions of the surgeons. These solutions are based on a teleoperation or a co-manipulation of the surgical tool. The lever arm model has been used in the control of the instrument through an orifice. In this thesis, it is shown that a small calibration error in the lever arm problem can lead to a big static error and even to a divergence during automatic displacements in a Minimally Invasive Surgery context. To minimize the efforts applied to the insertion area, this thesis focuses on a free-wrist anthropomorphic robot. To automatically move with accuracy, the interaction between the robot wrist and the tool point needs to be known at every time step. Two estimators have been developed and implemented in a control law for a wrist free anthropomorphic robot. This control law has been tested on a experimental setup simulating the insertion of a surgical tool through an orifice. The need to take the tissues deformations into account once demonstrated for surgeries such as prostate or uterine biopsy, the control law has been used in a visual servoing loop based on ultrasound images. This visual servoing can be used to control the position of an ultrasound probe for prostate biopsies.
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https://tel.archives-ouvertes.fr/tel-03341197
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Submitted on : Friday, September 10, 2021 - 3:28:09 PM
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  • HAL Id : tel-03341197, version 1

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Rémi Chalard. Robustesse à la variabilité du comportement mécanique du point d'insertion en chirurgie mini-invasive robotisée. Application à la biopsie de prostate. Automatique / Robotique. Sorbonne Université, 2019. Français. ⟨NNT : 2019SORUS591⟩. ⟨tel-03341197⟩

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