Publications associées à Distalmotion

Filiform Variable Stiffness Technologies for Medical Robotics

In recent years, soft robotics has surged in applications like wearables, drones, smart fabrics, and medical instruments. Due to their compliance, these devices excel in tasks demanding dexterity and adaptability, such as manipulation, locomotion, crash re ...

EPFL2024

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

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

System and method for a microfluidic jet generation from a compact device

Christophe Moser, Jan Krizek

The invention discloses systems and methods for generation of microfluidic jets providing a tool for very precise and localized delivery of e.g., medicaments. The proposed solution overcomes shortcomings related to miniaturization of a jet injection techno ...

2021

Laser-induced liquid micro-jets for drug delivery

Jan Krizek

Jet injection devices have been studied and developed for transdermal drug delivery to avoid the use of needles. Such contact-less devices provide several advantages such as better dose control, lateral and depth localisation, lower collateral damage than ...

EPFL2021

Control of Contact Tasks in Autonomous and Human-Robot Collaborative Scenarios: A Dynamical System Approach

Walid Amanhoud

Robotic systems are more and more present in our daily life. Robots became indeed more economical, easy to program, safe and collaborative in their interaction with humans, versatile in performing different tasks and adaptive towards changes in the environ ...

EPFL2021

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

A Compact Laser-Steering End-Effector for Transoral Robotic Surgery

Laryngeal cancer treatments, while curative, often lead to voice impairment. Minimally invasive surgical methods that facilitate greater preservation of healthy tissue have recently emerged, but they are still limited in important ways. In this work, we de ...

IEEE2019

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

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

Simultaneous Recognition and Pose Estimation of Instruments in Minimally Invasive Surgery

Pascal Fua, Raphael Sznitman, Pablo Marquez Neila

Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that generalizes to different ...

2017

Nano Fibrillated Cellulose Based Composite Hydrogels for an Injectable Intervertebral Disc Implant

Azadeh Khoushabi

Replacing the gel-like central part of the intervertebral disc (IVD), so-called nucleus pulposus (NP), via a minimally invasive surgery is one of the most recent approaches in the lower back pain treatments. An appropriate biomaterial for NP replacement (N ...

EPFL2016

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

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

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

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

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

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

Mechanical positioning system for surgical instruments

Hannes Bleuler, Reymond Clavel, Ricardo Daniel Rita Beira

An external manipulator for positioning surgical instruments within the abdominal cavity, comprising a hybrid kinematics with a parallel structure, able to provide four, active or passive, positional degrees of freedom to a endoscopic unit, placed in the d ...

2012