Publications associées à Remote surgery

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Aude Billard, Mohamed Bouri, Walid Amanhoud, Jacob Hernandez Sanchez

Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

2023

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Aude Billard, Mohamed Bouri, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation

Dario Floreano, Fabrizio Schiano, Matteo Macchini, Manana Lortkipanidze

The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising alternative to standard c ...

2021

Application of virtual reality in neurosurgery: Patient missing. A systematic review

Olaf Blanke, Bruno Herbelin

Virtual reality (VR) technology had its earliest developments in the 1970s in the U.S. Air Force and has since evolved into a budding area of scientific research with many practical medical purposes. VR shows a high potential to benefit to learners and tra ...

2021

Integration of hybrid material systems in conformable neural interfaces

Florian Dylan Fallegger

Neural interfaces are devices that are implanted into the body and interface electrically with the central (CNS) or peripheral nervous system. They are inserted surgically for short periods of time or chronically to diagnose or treat several neural disease ...

EPFL2020

Paragangliomas of the spine: a retrospective case series in a national reference French center

Constantin Tuleasca

Introduction Primary paragangliomas (PG) of the spine are extremely rare entities. The present study reviews our experience over a period of 30 years. Methods This is a retrospective, single center, observational study. Patients surgically treated for a sp ...

2020

Learning Trajectory Distributions for Assisted Teleoperation and Path Planning

Several approaches have been proposed to assist humans in co-manipulation and teleoperation tasks given demonstrated trajectories. However, these approaches are not applicable when the demonstrations are suboptimal or when the generalization capabilities o ...

2019

Haptic-Enabled Handheld Mobile Robots: Design and Analysis

Pierre Dillenbourg, Francesco Mondada, Wafa Monia Benkaouar Johal, Ayberk Özgür

The Cellulo robots are small tangible robots that are designed to represent virtual interactive point-like objects that reside on a plane within carefully designed learning activities. In the context of these activities, our robots not only display autonom ...

ACM2017

Supernumerary Robotic Arm for Three-Handed Surgical Application: Behavioral Study and Design of Human-Machine Interface

Elahe Abdi

In surgical to industrial manipulation, the operator needs assistance for tasks requiring more than two hands. Teamwork may be the source of errors and inefficiency, especially if the assistant is a novice or unfamiliar with the main operator. The need for ...

EPFL2017

ITER ECH&CD Upper Launcher: Design options and Remote Handling issues of the waveguide assembly

Timothy Goodman, René Chavan

The ITER Electron Cyclotron Heating and Current Drive Upper Launcher, developed by the ECHUL-CA Consortium of Euratom Associations (CRPP, CNR, ITER-NL, IPF, IPP, KIT and Politecnico di Milano), is presently in its final design phase. The study presented he ...

Elsevier Science Sa2014

Visual and Force Feedback Time-Delays Change Telepresence: Quantitative Evidence from Crossmodal Congruecy Task

Olaf Blanke, Hannes Bleuler, Michiel van Elk

In the field of surgical robotics, it is difficult to find objective assessment techniques for evaluating telepresence. In this study we try to merge the concepts from cognitive neuroscience more specifically from the field of tool incorporation (embodimen ...

Ieee2013

Role of Holographic Displays and Stereovision Displays in Patient Safety and Robotic Surgery

Hannes Bleuler, Telmo David Ribeiro Da Costa

In this study, the role of different 3D vision systems on the patient safety in the context of robotic surgery was studied. Clearly safety is the foremost importance in all surgical procedures. It is well studied in the clinical surgical procedures but the ...

Springer-Verlag Berlin2013

Mechanical teleoperated device for remote manipulation

Ricardo Daniel Rita Beira, Lionel Flaction

A mechanical teleoperated device comprising: a slave unit (10) an end-effector (40) a master unit (20) and a handle (30). Mechanical transmission means are arranged to kinematically connect the slave unit (10) with the master unit (20) such that the moveme ...

2013

A Hybrid BCI for Enhanced Control of a Telepresence Robot

José del Rocio Millán Ruiz, Robert Leeb, Serafeim Perdikis, Luca Tonin, Tom Edward Carlson

Motor-disabled end users have successfully driven a telepresence robot in a complex environment using a Brain-Computer Interface (BCI). However, to facilitate the interaction aspect that underpins the notion of telepresence, users must be able to voluntari ...

2013

Design of Dexterous Mechanical Systems for Intuitive Telemanipulation in Minimally Invasive Surgery

Ricardo Daniel Rita Beira

Major progress in abdominal surgery has occurred over the last decades with the introduction of laparoscopic and minimally invasive techniques in the operating room. These innovative procedures attracted much attention due to several advantages: the need f ...

EPFL2013

Live mammalian cell arrays

Matthias Lütolf, Sebastian Maerkl, Samy Gobaa, Kristina Pan Woodruff, Luis Miguel Fidalgo Rabanera

High-content assays have the potential to drastically increase throughput in cell biology and drug discovery, but handling and culturing large libraries of cells such as primary tumor or cancer cell lines requires expensive, dedicated robotic equipment. We ...

Nature Publishing Group2013

New horizons for patient safety: LIGRA (LIfe Guard for Robotic surgery Assistance) An interactive platform centralizing information and control in robotic surgery Operating Rooms

Hannes Bleuler

The present paper describes LIGRA, an innovative technological solution developed in the context of the SAFROS co-funded EU project. Its general goal is to improve patient safety during minimal invasive robotic surgery. Focusing on the risks introduced in ...

Ieee2013

Extending the body to virtual tools using a robotic surgical interface: evidence from the crossmodal congruency task

Olaf Blanke, Hannes Bleuler, Giulio Rognini, Michiel van Elk, Jane Aspell, Ali Sengül

The effects of real-world tool use on body or space representations are relatively well established in cognitive neuroscience. Several studies have shown, for example, that active tool use results in a facilitated integration of multisensory information in ...

Public Library of Science2012

Mechanical manipulator for surgical instruments

Hannes Bleuler, Reymond Clavel, Ricardo Daniel Rita Beira

A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several ...

2012

Increasing Haptic Fidelity and Ergonomics in Teleoperated Surgery

Laura Santos Carreras

Over the past few decades, surgical procedures have made enormous progress, shifting from traditional open procedures to less and less invasive approaches, with the promise of smaller incisions, less complications, better cosmetic results and shorter recov ...

EPFL2012