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Étude d'un robot d'assistance pour la chirurgie endoscopique otologique et sinusienne

Abstract : Endoscopic ear and sinus surgery promotes minimally invasive pathways and allows a better view of areas difficult to access. However, they are not always easy, as they immobilize a surgeon’s hand to hold the endoscope. The objective of this thesis is to design an assistance robot for this type of endoscopic surgery. The thesis begins with a reminder of the anatomical regions of the ear and sinuses, then with a geometrical atlas based on scans. These measurements size these robotic workspaces and their variations. After a state of the art of the existing robots for ear and sinus surgery, we introduce our endoscope holder robot with a functional analysis. This analysis is confronted with a patent watch, which leads to a patent filing, published in 2021. Then, a marketing study is presented, showing the interest of users of the specialties concerned. The robot design phase begins, with analysis of different architectures, variations of a remote center of motion mechanism, made by coupling two degrees of freedom spherical mechanism with double parallelograms. A new optimization algorithm has been introduced, based on the Nelder Mead algorithm. It allows the optimization of parallel mechanisms. Robot control by image tracking has finally been defined, with an algorithm using CamShift.
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Contributor : Abes Star :  Contact
Submitted on : Thursday, October 14, 2021 - 11:03:09 AM
Last modification on : Wednesday, April 27, 2022 - 3:55:02 AM
Long-term archiving on: : Saturday, January 15, 2022 - 6:29:40 PM


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  • HAL Id : tel-03377490, version 2


Guillaume Michel. Étude d'un robot d'assistance pour la chirurgie endoscopique otologique et sinusienne. Automatique / Robotique. École centrale de Nantes, 2021. Français. ⟨NNT : 2021ECDN0030⟩. ⟨tel-03377490v2⟩



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