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Pioche, Mathieu. "Optimisation de la technique de dissection sous muqueuse à l’aide d’un bistouri à jet d’eau haute-pression pulsée pour le traitement endoscopique des tumeurs superficielles du tube digestif". Electronic Thesis or Diss., Lyon 1, 2015. http://n2t.net/ark:/47881/m6cr5rtg.
Pełny tekst źródłaFirst of all, we worked on the training for unexperienced operators by developing a bovine colon model more adapted to the European situation where colo-rectal lesions are the most common. This model of rectum from bovine, easy to find and to prepare allows training in conditions most close to the human colonic wall than those offered by the pig stomach. Furthermore, such models allows to teach the initial skills but avoiding the risk of adverse events for the first procedures in humans. A future work evaluating the benefits of a learning support by a dedicated interactive software on this model with 37 french and Japanese students is now being analyzed and will be reported soon. Then we thought about the strategy of the procedure in order to make it more simple using the tunnel technique to perform ESD for the esophageal lesions. This strategy helps to maintain traction on the edges and offers a sort of triangulation physically expanding the working space. This strategy has become a standard for esophageal resections in many teams and we still work to improve its efficacy. Finally, we worked jointly with Nestis® Company to develop a tool to optimize the submucosal dissection procedure by combining the benefits of the catheters bi function (injecting and cutting with the same tool), but adding high pulsed pressure and capability to inject viscous macromolecular solutions. The Nestis® system allows for the first time this association and demonstrated his interest in terms of security and performance compared with the conventional method using the needle and a conventional electrocautery device. With this bi function tool, it is not necessary to change instrument frequently since all stages of the procedure are now done with a single device. Other projects are already included with this material to explore its benefits and its safety in human colonic dissection that is deemed as the most difficult due to the thinner wall. Finally, this material offers the possibility to inject pressurized active drugs which could be used in the future to prevent the occurrence of esophageal strictures or to direct healing. We also worked with the hospital Edouard Herriot pharmacy to stabilize the solution glycerol mix to allow its use in daily practice in our unit
Taillandier, Gérard. "Contribution à la réalisation d'une sonde parodontale électro-mécanique reliée à un traitement informatisé des données". Toulouse 3, 1991. http://www.theses.fr/1991TOU30276.
Pełny tekst źródłaRasoulifar, Rahi. "Processus de conception centé utilisateur à base de scenario : application à la conception d'instruments chirurgicaux innovants en chirurgie mini-invasive". Grenoble 1, 2009. http://www.theses.fr/2009GRE10319.
Pełny tekst źródłaThis PhD research is a contribution to the design process of innovative surgical instruments, particularly for minimally invasive surgery (MIS) for which the collaboration of surgeons and engineers is inevitable. Reviewing the literature shows that there is a gap between what surgeons need and what the engineers design. An approach to fill this gap is to build a design process which enables surgeons and engineers to work together, or in other words, enables the designer to integrate the surgeon in the design process. Taking the action research as the research method, this thesis went through the action of a 2-year design project of an MIS instrument, Protige, and observed and captured the experiment. The analyses of the corpus of observation showed new aspects of design process: the coevolution of product and usage during the process, and the role of the expert user in the design progression. These results led to propose new descriptions of design process, such as emulation step and expert- UCD, and provided bases for proposing a descriptive design process model for innovative surgical instruments. The validity of the proposed model was examined by applying to another MIS instrument design, and an informatic structure was proposed as a support for the process model
Paille, Joffrey. "La localisation spatiale d'outils chirurgicaux par systèmes électromagnétiques alternatifs : applications et domaines de validité des modélisations numériques". Université Joseph Fourier (Grenoble), 2004. http://www.theses.fr/2004GRE19002.
Pełny tekst źródłaMagnetic tracking devices are the only systems that allow tracking movement of surgical tools inside the human body. Nevertheless, when used in a typical working environnement, these systems are usually disturbed by electromagnetic fields induced in nearby metals. The presence of metallic objects within the working field results in measurement errors which can be important, several millimeters for the most significant. Three-dimensional finite element modelling is presented, which is performed with FluxExpert software. This model is used to study the effect of the two metal-related phenomena that impinge on the performance of electromagnetic based trackers : eddy currents and ferromagnetism. Two numerical techniques have been developed. An experimental investigation was undertaken to validate the aumerical results. Validity domains of the numerical modellings have also been determined
Maillet, Pierre. "Développement d'un robot pour la chirurgie orthopédique et d'une méthodologie pour sa mise en oeuvre". Montpellier 2, 2006. http://www.theses.fr/2006MON20129.
Pełny tekst źródłaSeveral surgical procedures in orthopaedics, neurosurgery, maxillofacial or ENT need to mill, drill or cut bones accurately. In conventional surgery, motorized tools are positioned and held by the surgeon to realize these tasks. But bone cavity accuracy and surface roughness depend on the surgeon dexterity. In this thesis, we present a robot that has been developed for orthopaedic surgery as well as a registration method to position it with respect to the patient while satisfying constraints such as accessibility. In the two first section of the dissertation, the surgical constraint are presented and a state of art on current devices developed to assist ther surgeon's gesture is done. The third section details the BRIGIT device (Bone Resection Instrument Guidance by Intelligent tool) including its software and hardware architectures. A dedicated procedure for total knee replacement is also described. The last section presents the registration problem: two methods are proposed, one deriving a single robot solution, the second deriving a set of solutions that allows to position the robot in a more flexible manner
Krupa, Alexandre. "Commande par vision d'un robot de chirurgie laparoscopique". Vandoeuvre-les-Nancy, INPL, 2003. http://docnum.univ-lorraine.fr/public/INPL_T_2003_KRUPA_A.pdf.
Pełny tekst źródłaThis work presents a robotic vision system that automatically retrieves and positions surgical instruments during robotized laparoscopie surgical operations. The instrument is mounted on the end-effector of a surgical robot which is controlled by visual servoing. The goal of the automated task is to safely bring the instrument at a desired 3-D location from an unknown or hidden position. Light Emitting Diodes are attached on the tip of the instrument and a specifie instrument-bolder fitted with optical fibers is used to project laser dots on the surface of the organs. These optical markers are detected in the endoscopie image and allow to localize the instrument with respect to the scene. The instrument is recovered and centered in the image plane by means of a visual servoing algorithm using feature errors in the image. With this system, the surgeon can specify a desired relative position between the instrument and the pointed organ
Sincan, Premcoumar. "De l'antisepsie à l'asepsie en chirurgie". Lyon 1, 1997. http://www.theses.fr/1997LYO1M128.
Pełny tekst źródłaBogalhas, Frédéric. "Développement d'une sonde positon per-opératoire pour la localisation et l'excision des tumeurs cérébrales". Paris 11, 2009. http://www.theses.fr/2009PA112326.
Pełny tekst źródłaNowadays, the precision of the surgical removal remains one of the major steps of the management of patients suffering from brain cancers, such as gliomas, and conditions, more than for all other cancers, the survival outcome and the quality of life of operated patients. The stake is to perform the excision as complete as possible to prevent recurrences while preserving normal tissue bordering the tumour. This thesis presents the development, the characterisation and the pre-clinical evaluation of a radioisotopic probe intended to guide the surgeon in the simultaneous detection and removal of brain tumour lesion labelled with positrons emitting radiotracers. The probe consists of an exchangeable detection head built around clear and scintillating plastic fibres, an optic fibre bundle and a transportable photodetection and an acquisition module including a multi-channel photomultiplier and an electronic read-out chip. An optimised prototype of the probe with regards to performances (detection efficiency and spatial resolution) and ergonomics was realised. Its evaluation using a brain phantom demonstrates the ability of the probe to detect, with a precision averaging the millimetre, small residual lesions (20mg) labelled with currently available fluorinated radiotracers. Moreover, the pre-clinical evaluation performed on a primate model proves that the simultaneous precise in vivo detection and removal of radiolabelled tissues was feasible being guided only by the imaging abilities of the probe coupled to an ultrasonic surgical aspirator
Beigt, Noëlle. "Évaluation du risque de perforation du gant chirurgical au cours de l'acte opératoire". Bordeaux 2, 1989. http://www.theses.fr/1989BOR25001.
Pełny tekst źródłaGiraud, Jean Yves. "Etude et mise en oeuvre d'un ostéotome assisté par ultrasons". Toulouse 3, 1991. http://www.theses.fr/1991TOU30264.
Pełny tekst źródłaMichelin, Micaël. "Contribution à la commande de robots pour la chirurgie mini-invasive". Montpellier 2, 2004. http://www.theses.fr/2004MON20195.
Pełny tekst źródłaMénard, Laurent. "Étude, développement et évaluation clinique d'un imageur gamma per-operatoire". Versailles-St Quentin en Yvelines, 1999. http://www.theses.fr/1999VERS0002.
Pełny tekst źródłaLeport, Catherine. "Approche expérimentale des infections de prothèses artérielles : rôle du matériau et prophylaxie". Paris 11, 1989. http://www.theses.fr/1989PA114843.
Pełny tekst źródłaMozer, Pierre. "Urologie & gestes médico-chirurgicaux assistés par ordinateur". Grenoble 1, 2007. http://www.theses.fr/2007GRE10078.
Pełny tekst źródłaUrology particularly lends itselfto the development Computer Aided Surgery (CAS). Lndeed, the whole of the bodies in which it is interested can be visualized in echography which does not present any side effect and whose last developments make it possible to obtain a voluminal image in real time. This thesis de scribes three clinical applications: 1. The puncture of the kidney : the aim is to reach by percutaneous way a target inside the kidney. A registration between ultrasound and CT -scan images is described firstly by mapping two groups of dots and secondly by an iconic approach. These data are validated on phantom and a healthy subject. Ln the second time, an approach consisting in putting in correspondence in an automatic way the ultrasound puncture tract into fluoroscopy images is described, test on phantom and use with II patients. 2. The puncture of the holes S3 with the aim ofprecisely placing a needle in contact with the crowned roots. We describe an approach consisting in registering CT-scan and ultrasound images. 3. The rebuilding of images 3D anatomopathologic of prostate and their fusion with images IRM as weil as the localization of prostate biopsies in order to improve realization which is a gesture essential for cancer diagnosic
Collet, Denis. "Contrôle de la biodégradabilité du matériau Elastine-Fibrine pour son utilisation en chirurgie digestive". Bordeaux 2, 1992. http://www.theses.fr/1992BOR28204.
Pełny tekst źródłaBentchikou, Nai͏̈ma. "La décontamination pratique du matériel médico-chirurgical à l'hôpital". Paris 5, 1989. http://www.theses.fr/1989PA05P054.
Pełny tekst źródłaChioua, Chakib. "Dosage de l'oxyde d'éthylène résiduel dans le matériel médico-chirurgical : application aux oxygénateurs utilisés en circulation extra-corporelle". Université Joseph Fourier (Grenoble), 1990. http://www.theses.fr/1990GRE18001.
Pełny tekst źródłaBruneau, Michael. "Apport de l'étude anatomique et de l'imagerie peropératoire dans la chirurgie de l'artère vertébrale: développement de nouveaux concepts et matériel". Doctoral thesis, Universite Libre de Bruxelles, 2011. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/209889.
Pełny tekst źródłaLe premier travail a été axé sur l’étude de l’anatomie et des variations anatomiques de l’artère vertébrale. Les hypothèses suivantes ont été soulevées, relatives à l’incidence des variations anatomiques du 2ème segment de l’artère vertébrale, telles les anomalies de niveau de pénétration dans le foramen transverse et les boucles vasculaires. Une vaste étude anatomique de 500 trajectoires d’artère a été entreprise, basée sur des imageries par tomodensitométrie et résonance magnétique. Elle a permis de déceler 7% d’anomalies de niveau de pénétration et la présence de boucles vasculaires médiales dans 2% des cas, sous forme de boucles soit corporéales, soit foraminales.
Ensuite, toujours dans le but de sécuriser cette chirurgie complexe, s’est posée la question de l’intérêt de l’imagerie peropératoire jusqu’alors peu développée. Cette question est devenue d’autant plus pertinente qu’est apparue une nouvelle technique d’imagerie peropératoire jusqu’alors jamais testée dans les procédures liées à l’artère vertébrale extracrânienne. Cette technique, la vidéoangiographie peropératoire à la fluorescéine, a fait l’objet d’un travail multicentrique basé sur 9 interventions chirurgicales, avec pour objectifs de juger de son applicabilité, de ses limitations et intérêts, tant pour localiser l’artère durant l’abord chirurgical, que pour la visualiser après son exposition et vérifier sa perméabilité. Il a été observé que le premier segment de l’artère vertébrale possédait un aspect vidéoangiographique différent de celui des 2ème et 3ème segments, ainsi que de celui de l’artère carotide commune. De plus, des phases artérielle et veineuse ont été distinguées. Cet aspect vidéoangiographique peut être corrélé à l’anatomie de l’artère. L’intérêt de la technique réside dans l’aide qu’elle apporte pour déterminer la perméabilité du vaisseau ainsi que pour le localiser plus précisément au sein de la gaine périostée. Tant que celle-ci n’est pas exposée, la vidéoangiographie n’apporte par contre pas d’informations pertinentes pour sa localisation qui doit être strictement recherchée par les repères anatomiques usuels adaptés selon l’iconographie préopératoire.
Sur base de ces connaissances théoriques et chirurgicales, 2 nouvelles techniques opératoires ont été décrites et appliquées dans des indications très particulières. La première consiste en une technique de mobilisation du premier segment de l’artère en raison d’importantes tortuosités qu’il convenait de libérer pour restaurer l’accessibilité endovasculaire à une lésion intracrânienne. La seconde est une technique de fixation de l’atlas permettant de stabiliser une fracture tout en préservant la mobilité de l’articulation atlanto-axoïdienne.
Enfin, de nouvelles voies de recherche et de développements futurs ont été ouvertes sur base de travaux embryologiques, histologiques et anatomo-radiologiques qui ont été initiés pour juger de leur faisabilité future.
En conclusion, bien que complexe, la chirurgie au voisinage de l’artère vertébrale ouvre des voies d’abord spécifiques à certaines pathologies, raison pour laquelle elle mérite une attention toute particulière. De nouvelles procédures chirurgicales peuvent être développées, ainsi que des nouveaux concepts et matériel visant à améliorer la qualité de vie des patients. La singularité anatomique de l’artère vertébrale nécessite une connaissance détaillée et l’application d’une technique chirurgicale stricte. Avec le but poursuivi d’améliorer la sécurité de l’intervention chirurgicale, les travaux effectués ont clairement mis en évidence la nécessité d’une analyse approfondie de l’anatomie de l’artère vertébrale à un niveau individuel avant toute procédure. Les techniques d’imagerie intraopératoire peuvent apporter des informations utiles mais leurs avantages et limitations respectifs doivent être bien connus.
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Surgery around the vertebral artery requires a detailed knowledge of the anatomy and the application of a strict surgical technique. The main theme of these thesis works will be not only the improvement of the surgical security but also the development of new techniques allowing surgical indications widening.
The first work has been devoted to the study of the vertebral artery anatomy and variations. The following hypotheses have been raised, related to the incidence of anatomical variations of the second vertebral artery segment, such as the abnormal level of entrance into the transverse foramen and vessel loops. A large anatomical study consisting in 500 arterial trajectories has been performed, based on computed tomographic and resonance magnetic imagings. This study detected 7% of abnormal levels of entrance and the presence of vessel loops in 2% of the cases, either corporeal or foraminal loops.
Subsequently, the interest of intraoperative imaging techniques uncommonly applied until now has been questioned again with the goal to secure this complex surgery. This question was especially more relevant since the development of a new intraoperative imaging modality never tested in surgeries related to the extracranial vertebral artery. This technique, the intraoperative videoangiography using fluorescein, has been analyzed through a multicentric work based on 9 surgical procedures, with the goals to define its applicability, its limitations and interests for localizing the artery during the approach and for visualizing it after its exposure and checking its patency. It has been noted that the first vertebral artery segment appeared differently on videoangiography than the second and third ones, and than the common carotid artery. Moreover, arterial and venous phases should be distinguished. This videoangiographic aspect can be correlated with the vertebral artery anatomy. The interest of this technique lies in its help for confirming vessel patency and localizing it precisely inside the periosteal sheath. As far as the artery is not exposed, videoangiography brings no relevant information for its localization which must remain absolutely defined based on usual anatomical landmarks fitted to preoperative imaging.
Based on theoretical and surgical backgrounds, 2 new surgical techniques have been described and applied in specific surgical indications. The first one consists in a technique of rerouting of the first vertebral artery segment due to severe kinks that must be released for restoring the endovascular accessibility to an intracranial lesion.
Finally, new research approaches and future developments have been planed based on embryological, histological and anatomo-radiological works that have been started for evaluating their future feasability.
In conclusion, although complex, surgery around the vertebral artery opens specific surgical approaches to some pathologies, deserving for this reason some consideration. New surgical procedures can be developed, as well as new concepts and material with the goal to improve patient’s quality of life. The specific anatomy of the vertebral artery requires a detailed knowledge and application of a rigorous surgical technique. With the goal to improve surgical safety, works performed have clearly highlighted the necessity of an in-depth knowledge of the vertebral artery anatomy on an individual basis before any surgery. Intraoperative imaging techniques can contribute to bring relevant information but their respective advantages and limitations must be well-known.
Doctorat en Sciences médicales
info:eu-repo/semantics/nonPublished
Soulier, Céline. "De la certification de produit à la certification d'entreprise : applications à l'industrie du médicament et du matériel médico-chirurgical". Bordeaux 2, 1995. http://www.theses.fr/1995BOR2P025.
Pełny tekst źródłaLaflamme, Mélissa. "Étude prospective randomisée multicentrique comparant les résultats cliniques des patients traités chirurgicalement avec un implant statique ou dynamique dans les ruptures syndesmotiques aiguës de la cheville". Thesis, Université Laval, 2014. http://www.theses.ulaval.ca/2014/30593/30593.pdf.
Pełny tekst źródłaThis is a randomized double-blind controlled trial involving 70 subjects (in five centers) with an acute syndesmosis rupture, stabilized either with a Tightrope (n=34) or a 3.5mm quadricortical screw (n=36). The two groups were similar regarding demographic, social and surgical data. Subjects with dynamic fixation achieved higher performances as described with the Olerud-Molander and AOFAS scores at 3, 6 and 12 months. Plantar flexion was superior with dynamic fixation at all times. Implant failure was higher in the screw group. Loss of reduction was observed in 4 cases in the static screw group. Reoperation for any cause was more frequent in the screw group. We could not demonstrate major differences in the activity level between the two groups, except that subjects with dynamic fixation returned earlier to their previous sporting activities. Therefore, we concluded that dynamic fixation of acute ankle syndesmosis rupture with the Tightrope gives better clinical and radiographic outcomes.
Gagne, Julien. "Exploitation de l’effet gyroscopique pour la stabilisation active de l’épicarde : vers une chirurgie des coronaires à coeur battant". Strasbourg, 2011. http://www.theses.fr/2011STRA6079.
Pełny tekst źródłaActual passive stabilizers used in cardiac surgery does not constrain enough the heart surface to guarantee a proper stabilization. An adaptable device is proposed allowing to actively compensate for residual displacement in real time thanks to Control Moment Gyroscope (CMG) actuation; able to generate a gyroscopic torque without grounding constraint. The use of an accelerometer for measurement allows also to free from external reference. The working principle and the model are described as well as the design approach. The technical aspects for the realization of the first prototype, called GyroLock, are detailed. Measurement noise and potential model parameters errors are significant and should be considered in the choice of the control method. Using a CMG includes also specific additional constraints. Two control approaches are considered : a control based on a Kalman observer including a disturbance model and an adaptive control using correlation principle. Simulations highlight the theoretical efficiency of both methods. Table experiments show the limitations of the observer approach in this case. The adaptive method is more efficient thanks to a better robustness concerning model parameters errors. Finally, the device using adaptive control has been successfully tested on a pig in real conditions, validating the proposed approach. A preliminary study concerning the motion compensation for two directions is presented at the end
Maurice, Xavier. "Lumière structurée codée pour une reconstruction 3-D robuste : Application à la chirurgie mini-invasive". Strasbourg, 2011. https://publication-theses.unistra.fr/public/theses_doctorat/2011/MAURICE_Xavier_2011.pdf.
Pełny tekst źródłaDuring a minimally-invasive surgical intervention, the intra-abdominal scene, which is acquired by an endoscope, is presented to the surgeon by means of a 2-D display. The real-time depth map computation of such a scene could have huge benefits like a better visual perception, robot visual servoing, registration of pre-existing models of organs. To this end, in this thesis, many contributions leading to the realisation of an endoscopic stereo, mono-trocar, system, based on a coded structured light pattern projection, are presented. We propose to better exploit the epipolar geometry of the system at the pattern design step, first for the numerical coding, and then, for the pattern layout. Other contributions dealing with "brute-force" coding algorithm with redundancy, with real-time GPU processing, with 3-D reconstruction and with weak-calibration of the system, are described. In particular, the two main issues in "brute-force" coding algorithms : the search behaviour and the unicity test, are addressed. Moreover, an a priori compensation of optical distorsions of the projector is proposed after the pattern alignment on the epipolar geometry. Numerous coding results, ex vivo and in vivo 3-D reconstruction with associated statistics, are reported to evaluate the proposed approach
Penon, Jacques. "La photographie à l'épreuve du numérique : étude compréhensive de l'émergence d'une nouvelle technologie". Montpellier 3, 1997. http://www.theses.fr/1997MON30037.
Pełny tekst źródłaFor a decade or so, we have witnessed the intrduction of digital technology in a field of practices and uses established by traditional photography. This introduction of a new technology is not a passive phenomenon. It goes with a deep change in the relationships between a technical device individuals, and uses. Our research done in a comprehensive and complex perspective, aims at revealing the contributing to the emergence of digital technology in the field of phtography. With this aims in view, we will in the first place study photography trough its history, from a utilitarian and aesthetic point of view, in order to grasp the relationships woven between the photographic machine, the photographers and the uses of their products. In the second place, a similar process will be practised about digital technology. These approaches to the two technologies will allow us, through the observation and analysis of numerous studies about traditional and digital phtography, to question between structuralism and phenomenology, the processes, identities and conceptual tools maintaining the symbolic worlds to those two technologies
Jolly, Clara. "Innover pour la périphérie : recherche agronomique publique et développement de machinisme approprié pour l’agriculture familiale en Argentine". Thesis, Montpellier 3, 2019. http://www.theses.fr/2019MON30030.
Pełny tekst źródłaIn Argentina in the early 2000s, the world of public agricultural research focused on the development of appropriate machinery for family farming. Family farming, which became a category of public and scientific action at the same time, refers to farmers working their land without employing paid labor. This model differs from the agri-business model, which focuses on the production of raw materials for exportation, which has grown considerably in Argentina since the 1990s.The thesis first focuses on the establishment of such machinery and its subsequent development in relation to family farming within Argentinean agricultural research, around the creation of new institutes specially dedicated to research and technological development for family farming (Ipaf). These institutions are particularly unique in that they are based on the reference of the concept of "appropriate technologies". Born in Europe in the 1960s, this concept is grounded on a strong criticism of conventional technologies, while at the same time proposing the development of simple, local, small-scale and decentralized technologies. After having observed the trajectory of circulation, made of hybridizations, of the concept of appropriate technologies in Latin America, we will present how it has been mobilized by Argentinean public agronomic research in the specific context of the 2000s. This context, politically marked by Kirchnerism, has seen the establishment of a mandate to put science and technology at the service of social inclusion.The thesis then focuses in detail on the work carried out by the engineers responsible for developing machines suitable for family farming. We return to two specific cases, namely the design and manufacture of quinoa post-harvest machines and the development of a semi-mechanized harvester prototype. We present how engineers are working on different fronts. They designed models, found funds to prototype them, participated in manufacturing, but also sought public funding to enable small producers to acquire the machines. We analyse this specific method of intervention, which is oriented towards the achievement of a mission, which is to ensure that innovations reach small producers.Finally, we present the way in which public agricultural research agents have, at the heart of this state-led project, interacted with the private sector and attempted to build a sector of machine manufacturers for family farming. This last theme is all the more complex in the context of technologies for family farming, where it is a question of considering the development of markets for impoverished individuals, or at least those with low or very low purchasing power.This thesis provides a detailed analysis of the role of public agricultural research in supporting family agriculture, and the changing relationships in science, technology and politics in a peripheral country like Argentina
Hamze, Noura. "Optimisation et planification préopératoire des trajectoires en conditions statiques et déformables pour la chirurgie guidée par l'image". Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD024.
Pełny tekst źródłaIn image-guided minimally invasive surgery, a precise preoperative planning of the surgical tools trajectory is a key factor to a successful intervention. However, an efficient planning is a challenging task, which can be significantly improved when considering different contributing factors such as biomechanical intra-operative deformations, or novel optimization techniques. In this work, we focus on two aspects. The first aspect addresses integrating intra-operative deformation to the path planning process. Our methods combine geometric-based optimization techniques with physics-based simulations. They are characterized with a certain level of generality, and are experimented on two different surgical procedures: percutaneous procedures for hepatic tumor ablation, and in neurosurgery for Deep Brain Stimulation (DBS). Secondly, we investigate, implement, and compare many optimization approaches using qualitative and quantitative methods, and present an efficient evolutionary Pareto-based multi-criteria optimization method which can find optimal solutions that are not reachable via the current state of the art methods
Guillon, Maxime. "Expansion de cibles pour le pointage et sélection : application à l'interaction à distance en chirurgie augmentée". Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAM066/document.
Pełny tekst źródłaPointing to/ Selecting targets is an elementary task universally present in graphical user interfaces (GUI). This task can be difficult to perform if the control of the cursor is not easy or if the target is far away or small. Thus facilitating target selection is a fundamental and active research topic in Human-Computer Interaction (HCI) and researchers have proposed numerous targeting assistance techniques.Our research focuses on targeting assistance techniques that allocate larger activation areas to targets. Such target expansion techniques rely on two basic elements: the expansion algorithm and the visual aid. The expansion algorithm distributes partly or wholly the free space among the targets. The visual aid presents the resulting target expansion to the users. Our work is dedicated to the visual aid that enables the users to take full advantage of the target expansion technique during the pointing/selection tasks.We first propose a three-axes design space for visual aid mechanisms. We further define a matrix-based notation for concisely describing a target expansion technique along the three design axes. We provide an analytical exploration of the design space by classifying existing target expansion techniques and by designing eight novel target expansion techniques, thus demonstrating the generative power of the design space. We also provide an experimental exploration of the design space by conducting two in-lab experiments. Based on the experimental results, we build a set of design recommendations.We then put forward a conceptual predictive model of performance. The model relies on a systematic analysis of the relevance of the visual aid provided by a target expansion technique based on the three goal-oriented phases of a selection task: the starting phase to initiate the movement towards the target, the transfer phase to bring the cursor into the goal target and the selection validation phase. To test the model we consider experimental results of the literature and of a third conducted in-lab experiment.Our contributions are applied to the field of Augmented Surgery and in particular interaction with a distant screen during a surgery in the operating theatre. As part of a Aesculap-CIFRE thesis, the next version of the product Aesculap’s OrthoPilot® Navigation System for orthopaedic surgery will include a target expansion technique for facilitating target selection by the surgeon in the operating theatre. We also provide a new foot gesture-based technique, namely Medical TapTap, for the validation of selection in the operating theatre
George, Olivier. "Etude de la corrosion et de l'usure des pinces à couper les ligatures au cours de la stérilisation". Thesis, Nancy 1, 2011. http://www.theses.fr/2011NAN10032/document.
Pełny tekst źródłaThe aim of this work was to assess the effect of sterilization on ligature-cutting pliers, and more specifically the corrosion and wear of the plier's cutting edges, while respecting prion inactivation norms. Material included one set of 25 ligature-cutting pliers supplied by three major orthodontic distributors (Dentaurum®, ETM® and RMO®), .010 inch stainless steel orthodontic ligature wire and five disinfecting agents (Ampholysine Plus®, Elusept®, Dy Septi®, Prédolyse®, Dentasept Ultra®). Pliers (chemical composition, Vickers hardness, crystalline network) and disinfecting agents (chemical composition, pH) were initially characterized. Corrosion susceptibility of each single part of the different pliers was then analyzed, and galvanic coupling performed. Electrochemical behaviors of the whole pliers were studied by immersion in the various disinfecting agents. The pliers corrosion and wear were also observed with increasing number of sterilization cycles. Resistance to corrosion during sterilization cycles was found to be satisfactory, all pliers and disinfecting agents included
Delwiche, Thomas. "Contribution to the design of control laws for bilateral teleoperation with a view to applications in minimally invasive surgery". Doctoral thesis, Universite Libre de Bruxelles, 2009. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210223.
Pełny tekst źródłaThe approach developed in this thesis is a contribution towards such a systematic
methodology: it combines the use of disturbance observers with the use of a structured fixed-order controller. This approach is validated by experiments performed on a one degree of freedom teleoperation system. A physical model of this system is proposed and validated experimentally.
Disturbance observers allow to compensate friction, which is responsible for performance degradation in teleoperation. Contrary to alternative approaches,they are based on a model of the frictionless mechanical system. This allows to compensate friction with a time varying behavior, which occurs in laparoscopy.
Parametric uncertainties in this model may lead to an unstable closed-loop. A kind of "separation principle" is provided to decouple the design of the closed-loop system from the design of the observer. It relies on a modified problem statement and on the use of available robust design and analysis tools.
A new metric is proposed to evaluate the performance of friction compensation systems experimentally. This metric evaluates the ability of a compensation system to linearize a motion system, irrespective of the task and as a function of frequency. The observer-based friction compensation is evaluated with respect to this new metric and to a task-based metric. It correctly attenuates the friction in the bandwidth of interest and significantly improves position and force tracking during a palpation task.
Structured fixed-order controllers are optimized numerically to achieve robust closed-loop performance despite modeling uncertainty. The structure is chosen among classical teleoperation structures. An efficient algorithm is selected and implemented to design such a controller, which is evaluated for a palpation task. It is compared to a full-order unstructured controller, representative of the design approach that has been used in the teleoperation literature up to now. The comparison highlights the advantages of our new approach: order-reduction steps and counter-intuitive behaviors are avoided.
A structured fixed-order controller combined with a disturbance observer is implemented during a needle insertion experiment and allowed to obtain excellent performance.
Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished
Laloy-Borgna, Gabrielle. "Micro-élastographie : caractérisation mécanique de la cellule par ondes élastiques". Electronic Thesis or Diss., Lyon 1, 2023. http://www.theses.fr/2023LYO10058.
Pełny tekst źródłaDyanmic elastography is an imaging method to measure the elasticity of biological tissues in a non-invasive and quantitative way. Recently, the transposition of the technique to a small scale has been called dynamic micro-elastography and has allowed the first measurements of cellular elasticity by shear waves using an optical microscope. This thesis aims to undetstand the limits of this technique and to develop new micro-elastography methods, to test new wave sources but also potential applications of the technique. In a first step, the dispersion of shear waves was studied on gelatin phantoms. Two distinct regimes of guided elastic waves and shear waves were identified. The high-frequency limit of wave propagation was also explored, establishing the existence of a cutoff frequency which explains the absence of ultrasonic shear imaging. The same approach was then applied to visco-elastic fluids, revealing two cutoff frequencies and revisiting previous studies on rheology and wave propagation in this type of medium. Then, the initial objective being to carry out micro-elastography on single cells and the experiments previously carried out with micro-pipettes presenting certain defects, an original method of cellular micro-elastography was developed. An oscillating microbubble is used as a contactless shear wave source at 15 kHz to perform experiments on blood cells whose diameter is about 15 µm. These are the smallest objects ever explored by elastography. Larger objects, cell clusters of a few tens of thousands of cells have also been studied. Indeed, since ultrasound elastography of these tumour models of about 800 µm in diameter is impossible, optical micro-elastography is a suitable technique. These samples contain magnetic nanoparticles, so a magnetic pulse could be used as a wave source. Previously, proofs of concept on both macroscopic (in ultrasonic elastography) and microscopic (in optical micro-elastography) phantoms were conducted to validate the use of this diffuse field source. Finally, pulse wave measurements were performed on retinal arteries of about 50 µm in diameter using laser Doppler holography acquisitions performed in vivo. The application of monochromatic correlation algorithms allowed the measurement of guided wave velocities, finally revealing the existence of a second pulse wave, an antisymmetric bending wave. This guided wave, much slower than the axisymmetric pulse wave studied so far, was also observed on the carotid artery thanks to ultrafast ultrasound acquisitions
Barbé, Laurent. "Téléopération avec retour d'efforts pour les interventions percutanées". Phd thesis, Université Louis Pasteur - Strasbourg I, 2007. http://tel.archives-ouvertes.fr/tel-00273534.
Pełny tekst źródłaSerrano, Carole. "Impression 3D de dispositifs médicaux utilisés en chirurgie : quelles recommandations pour l’élaboration d’un modèle d’évaluation médico-économique ? Benefits of 3D printing applications in jaw reconstruction : A systematic review and meta-analysis Evaluation of 3D printing costs in surgery : a systematic review". Thesis, université Paris-Saclay, 2020. http://www.theses.fr/2020UPASQ024.
Pełny tekst źródła3D printing is a technology that allows the production of an object by additions of materials layers by layers. This technology has many applications in healthcare: bio-printing of tissues and organs, manufacture of medicines or production of customised medical devices. Over the last fifteen years, the production of anatomical models, surgical guides and implants adapted to the patient's anatomy has grown exponentially in all surgical domains. Nevertheless, the question of its clinical and economic evaluation remains unanswered. The objective of this work is to propose several recommendations for designing an economic evaluation model that would take into account the numerous specificities of this technology. We underlined that existing models are not suitable for evaluating a 3D printed device, in particular by highlighting the importance of organisational impact assessment. Thus, we suggested ten key recommendations to be taken into account when designing a study model for 3D printed medical devices
Spadola, Sara. "Development and evaluation of an intraoperative beta imaging probe for radio-guided solid tumor surgery". Thesis, Université Paris-Saclay (ComUE), 2016. http://www.theses.fr/2016SACLS257/document.
Pełny tekst źródłaExtent and accuracy of surgical resection is a crucial step in the therapy of operable solid tumors. The recent availability of specific tumor-seeking agents, positron labeled, renewed the interest for radioguided surgery. The detection of beta particles, due to their short range, allows a more sensitive and accurate tumor localization. Since no mechanical collimation is necessary, it is possible to design probes with a sensitivity increased by one to three orders of magnitude compared to gamma detectors. The beta particle short range also reduces the contamination from distal non-specific radiotracers uptake region, which results in a increased signal-to-noise-ratio. Conversely, beta detection requires sensors to be extremely compact in order to operate in contact with the surveyed tissues in narrow surgical cavities. This thesis takes place in that context. Its aim was to develop an intraoperative positron imaging probe based on the silicon photomultiplier technology (SiPM) and to evaluate its ability to perform in real time tumor localization and post-operative control of the surgical cavity. During this work, two prototypes of intraoperative positron imaging probe were developed. The first detector design is based on the use of a single organic scintillator coupled to an array of SiPMs. This configuration uses a small sensitive volume to reduce the contamination noise coming from the annihilation gamma rays. The second version of the probe implements a subtraction method allowing to improve gamma rejection efficiency. This configuration uses a stack of two scintillators separated by a light guide. The events interacting in the top and the bottom scintillator are discriminated by the analysis of the different light distributions on the SiPM array. Different designs of the positron imaging probes, including scintillator material and thickness, light spreading window and optical reflector, were investigated with Montecarlo simulations and measurements. Their impact on the probes performances were optimized in terms of positron sensitivity, gamma ray rejection efficiency, spatial resolution and bias and uniformity of response. The effect of different reconstruction algorithm on spatial performances was also studied. Finally, the objective of developing an intraoperative probe fully operational in the operating room has been achieved by the design of dedicated miniaturized electronic readouts and mechanical housing. In the last part of my thesis, the evaluation of the single scintillator configuration in a realistic clinical environment was performed with 18F-FDG phantoms. We showed that the low intrinsic sensitivity of this probe to gamma radiations allows to detect tumor volumes as small as 14 mg for uptake properties corresponding to currently available radiotracers and acquisition times compatible with the surgery duration
Martelli, Nicolas. "Evaluation des dispositifs médicaux innovants dans les CHU en vue de leur acquisition : état des lieux et élaboration d’un outil d’aide à la décision". Thesis, Paris 11, 2015. http://www.theses.fr/2015PA114802/document.
Pełny tekst źródłaInnovative medical devices offer solutions to medical problems. However, medical devices arriving on the European market have generally little evidence about efficiency. To manage the uncertainty surrounding the introduction of innovative medical devices, hospitals and university hospitals have developed worldwide hospital-based health technology assessment (HTA) processes to guide the selection of expensive and innovative products. Nevertheless, little is known about hospital-based HTA activities in France. We demonstrated that French models of hospital-based HTA are comparable to those found elsewhere and presented sometimes a combination of several HTA models. We also underlined that a mini-HTA like model could easily be applied to French university hospitals. Mini-HTA has become widespread in many different forms across the world. We compared criteria of different mini-HTA forms to criteria used in French university hospitals and identified 26 relevant criteria to assess innovative medical devices. Finally, we developed and tested in real conditions a multiple-criteria decision tool derived from these 26 criteria
Claasen, Göntje Caroline. "Capteur de mouvement intelligent pour la chirurgie prothétique naviguée". Phd thesis, Ecole Nationale Supérieure des Mines de Paris, 2012. http://pastel.archives-ouvertes.fr/pastel-00691192.
Pełny tekst źródłaPioche, Mathieu. "Optimisation de la technique de dissection sous muqueuse à l’aide d’un bistouri à jet d’eau haute-pression pulsée pour le traitement endoscopique des tumeurs superficielles du tube digestif". Thesis, Lyon 1, 2015. http://www.theses.fr/2015LYO10166/document.
Pełny tekst źródłaFirst of all, we worked on the training for unexperienced operators by developing a bovine colon model more adapted to the European situation where colo-rectal lesions are the most common. This model of rectum from bovine, easy to find and to prepare allows training in conditions most close to the human colonic wall than those offered by the pig stomach. Furthermore, such models allows to teach the initial skills but avoiding the risk of adverse events for the first procedures in humans. A future work evaluating the benefits of a learning support by a dedicated interactive software on this model with 37 french and Japanese students is now being analyzed and will be reported soon. Then we thought about the strategy of the procedure in order to make it more simple using the tunnel technique to perform ESD for the esophageal lesions. This strategy helps to maintain traction on the edges and offers a sort of triangulation physically expanding the working space. This strategy has become a standard for esophageal resections in many teams and we still work to improve its efficacy. Finally, we worked jointly with Nestis® Company to develop a tool to optimize the submucosal dissection procedure by combining the benefits of the catheters bi function (injecting and cutting with the same tool), but adding high pulsed pressure and capability to inject viscous macromolecular solutions. The Nestis® system allows for the first time this association and demonstrated his interest in terms of security and performance compared with the conventional method using the needle and a conventional electrocautery device. With this bi function tool, it is not necessary to change instrument frequently since all stages of the procedure are now done with a single device. Other projects are already included with this material to explore its benefits and its safety in human colonic dissection that is deemed as the most difficult due to the thinner wall. Finally, this material offers the possibility to inject pressurized active drugs which could be used in the future to prevent the occurrence of esophageal strictures or to direct healing. We also worked with the hospital Edouard Herriot pharmacy to stabilize the solution glycerol mix to allow its use in daily practice in our unit
Deruelle, Tristan. "Magnetic Resonance Elastography : towards prostate cancer imaging and slow compression wave imaging in softtissues". Electronic Thesis or Diss., Lyon, 2022. http://www.theses.fr/2022LYSE1068.
Pełny tekst źródłaProstate cancer is the second most prevalent cancer in men worldwide. It is suspected when the PSA density is high or/and the superficial prostate feels hard during digital rectal examination. Multiparametric MRI is now recommended prior biopsy when detecting for cancer. However, image interpretation is challenging, even for specialists, and brings many false-positive. Elastography is a technique to assess tissue stiffness by inducing small vibrations. It could provide a 3D map of the stiffness of the prostate. We believe that MR elastography could complement the current multiparametric MRI. Given prostate location and consitution, wave propagation is difficult though. The current work presents the design of a non-invasive wave generation device for the prostate. Then, a new field separation algorithm is presented. This algorithm provides a better estimation of the stiffness, and the correction of artefact generated by common vibrators. Finally, this algorithm can have applications in porous media. Indeed, in poro-elastic materials, a slow compression wave propagates. We observe such a wave in an agar gel, in a foam phantom, and in vivo in human kidney graft. In addition to the classic shear wave velocity estimation, it is now possible to estimate the compression wave velocity. This is an additional piece of information that the operator can use in its diagnostic. In the future, more porous parameters could be derived
Fribault, Mathieu Thierry. "La figure de l'innovateur chez les Baga et Susu de Guinée : histoire sociale, verrous et jalousie". Thesis, Paris, EHESS, 2020. http://www.theses.fr/2020EHES0028.
Pełny tekst źródłaIn a small village in Maritime Guinea, Baga Sitem indigenous people have been living with their Susu foreigners for more than a century. Both live in a mangrove environment transformed over the centuries and successive clearings into a vast plain where irrigated rice cultivation was practiced. Over the past century, a major ecological upheaval has led to a radical change in the water regime, resulting in the "breakdown" of rice production. The Susu quickly developed fishing techniques adapted to the new environment, a freshwater marsh, while the Baga tried to save rice production. To stop the cycle of annual food shortages, they have finally turned recently to the fishery resource and to a specific technique: straight-net fishing. While Sitem dream of "success", the appropriation of fishing is far from being total yet: « locks » to innovation hinder it. In order to grasp the blockages and anchor them in a comparative analysis, I mobilize the social history of the two societies: in the sub-region's secular violence, the sitem history is marked by the choice of refuge in the mangrove swamp, on the edge of the marronnage, while the Susu ethnic group emerges on a crossroads territory from where conquering the coast over time. The combination with the context of historical violence conceals an internal social order, and the two societies, between the refuge and conquest’s dynamics, are in opposition from this point of view. Local notions of badenya and fadenya are then used to synthesize a series of distinctive social traits that involve a very nuanced relationship of individual initiative between Baga and Susu. As the two societies take on new production options, the actors carrying them confront their respective histories, territorial, political and religious structures, as well as their techniques for administering violence and secrecy. The analysis of locks is both classic and renewed, opening up to a pragmatic approach to innovation. Finally, the research work the relationship between technological innovations and social changes, as well as the the innovator in societies which are not subject to a modern ideology that valuing novelty. I observe that beyond the blockages, the innovator baga acts "curled up" when the innovator is "sung" by his society. It appears that the commitment of innovators is determined by social dynamics, between withdrawal, crisis and expansion, involving institutional formats as well as emotional relationships. More Guinean issues are discussed throughout the text, while the Baga Sitem are undergoing profound changes in the form of a susuisation of the Lower Coast region of Guinea
Sivadon, Audrey. "Contributions à l’imagerie passive de la cavitation ultrasonore : formation de voies adaptatives en 3D et extension spatiale de nuages de bulles". Electronic Thesis or Diss., Lyon 1, 2022. http://www.theses.fr/2022LYO10172.
Pełny tekst źródłaPassive imaging relies on beamforming algorithms that require large aperture probes to provide good axial resolutions; however, in 3D passive imaging, the matrix probes currently marketed do not meet this constraint. Moreover, these probes have a large number of elements, which makes their use particularly unwieldy. This thesis work focuses on the study and improvement of passive cavitation imaging by addressing two aspects in particular: (i) the practical and efficient implementation of 3D passive imaging, (ii) the problem of imaging large sources such as cavitation clouds. We have combined the application of sparse methods (to reduce the number of active elements of the probe used) and the transposition from 2D to 3D of adaptive algorithms in the frequency domain. This formalism uses the robust estimation of the inter-spectral density matrix (CSM) and allowed us to implement simply and efficiently different algorithms: Delay-And-Sum (DAS), Robust-Capon-Beamformer and Pisarenko. The efficiency of these algorithms in 3D has been tested in terms of width to half height, contrast and position error, on a point source in simulations and on a point reflector in experiments. Finally, in order to address the reality of cavitation clouds, we have investigated the behavior of these reconstruction methods in the case of extended sources. Our 2D simulations show the evolution of the reconstructed images as a function of the cavitation cloud characteristics. This work provides a concrete solution for a simple implementation of 3D passive imaging as well as answers to the expectations on the localization and characterization of a cavitation cloud
Sadelli, Lounis. "Modélisation, observation et commande de robots vasculaires magnétiques". Thesis, Orléans, 2016. http://www.theses.fr/2016ORLE2065/document.
Pełny tekst źródłaMinimally invasive surgery is an active research area since such systems have the potential to perform complex surgical procedures such as targeted therapies or in situ diagnosis, while minimizing trauma, side effects and recovery time. Miniaturized systems magnetically propelled by remote actuation can achieve swimming through the blood vessels network in order to provide targeted therapy, even for hard-to-reach human organs. This PhD thesis aims at addressing i) a review on the modeling of microrobots immersed in blood vessels, ii) a classification of the state space forms of such systems, iii) the synthesis of state feedbacks ensuring the stabilization of the microrobots along a reference trajectory, iv) the synthesis of observers to rebuild the unmeasured state variables. Magnetic microrobots swimming in a blood vessel face the hydrodynamic drag, surfacic and contact forces, magnetic interactions, and their apparent weight. These untethered robots are actuated by magnetic fields or magnetic gradients generation, and their localization is ensured by a medical imager. The microrobots dynamics (the so-called reduced system) lead to a nonlinear affine control subsystem with drift, and exhibits many uncertain physiological parameters, such as the blood velocity which can hardly be measured. The blood flow dynamics (the so-called fluidic system) are then modeled as an autonomous subsystem. These two subsystems result in an extended system describing the whole (robot and fluid) dynamics. The control objective is to stabilize the state of the reduced system along a reference trajectory, which is performed by an adaptive backstepping synthesis. Yet the full state is not accessible. We then synthesize either MVT or immersion based observers for the extended system, when the blood pulsation is either known or not. The output feedback stability is then proved. The stability and robustness to output noise, parametric uncertainty, and modeling errors are then illustrated by simulations
Bouget, David. "Détection en temps-réel des outils chirurgicaux dans des vidéos 2D de neurochirurgie par modélisation de forme globale et d'apparence locale". Thesis, Rennes 1, 2015. http://www.theses.fr/2015REN1B006/document.
Pełny tekst źródłaDespite modern-life technological advances and tremendous progress made in surgical techniques including MIS, today's OR is facing many challenges remaining yet to be addressed. The development of CAS systems integrating the SPM methodology was born as a response from the medical community, with the long-term objective to create surgical cockpit systems. Being able to identify surgical tools in use is a key component for systems relying on the SPM methodology. Towards that end, this thesis work has focused on real-time surgical tool detection from microscope 2D images. From the review of the literature, no validation data-sets have been elected as benchmarks by the community. In addition, the neurosurgical context has been addressed only once. As such, the first contribution of this thesis work consisted in the creation of a new surgical tool data-set, made freely available online. Two methods have been proposed to tackle the surgical tool detection challenge. First, the adapted SquaresChnFtrs, evolution of one of the best computer vision state-of-the-art approach for pedestrian detection. Our second contribution, the ShapeDetector, is fully data-driven and performs detection without the use of prior knowledge regarding the number, shape, and position of tools in the image. Compared to previous works, we chose to represent candidate detections with bounding polygons instead of bounding boxes, hence providing more fitting results. For integration into medical systems, we performed different code optimization through CPU and GPU use. Speed gain and accuracy loss from the use of ad-hoc optimization strategies have been thoroughly quantified to find an optimal trade-off between speed and accuracy. Our ShapeDetector is running in-between 5 and 8Hz for 612x480 pixel video sequences.We validated our approaches using a detailed methodology covering the overall tool location, tip position, and orientation. Approaches have been compared and ranked conjointly with a set of competitive baselines. For suction tube detections, we achieved a 15% miss-rate at 0.1 FPPI, compared to a 55% miss-rate for the adapted SquaresChnFtrs. Future works should be directed toward the integration of 3D feature extraction to improve detection performance but also toward the refinement of the semantic labelling step. Coupling the tool detection task to the tool classification in one single framework should be further investigated. Finally, increasing the data-set in diversity, number of tool classes, and detail of annotations is of interest
Schell, Jean-Baptiste. "Microsystème de positionnement dédié à l'instrumentation d'aiguilles pour intervention chirurgicale sous scanner IRM". Thesis, Strasbourg, 2013. http://www.theses.fr/2013STRAD043.
Pełny tekst źródłaSurgeries are moving more and more towards so called minimally invasive techniques. With these techniques, the surgeon looses direct view of the medical tool that he manipulates. The visual control of the instrument movement inside the human body is monitored on a screen through medical imaging techniques, particularly magnetic resonance imaging (MRI). To ensure a high accuracy of the instrument movement, its position must be known to enable the automatic registration of the imaging plane in real time.This work describes the design and characterization of a positioning system operating in a MRI scanner which can be embedded in medical devices of very small diameters. To achieve millimeter dimensions, the system is realized on a silicon chip using standard manufacturing processes of microelectronics : low voltage 0.35 µm CMOS technology. This microsystem is based on the use of a 3D magnetic Hall effect sensor co-integrated with specific signal processing electronics to extract the accurately measured magnetic field gradients which are inherent to the MRI principle. The unique relationship between scanner bore space coordinates and the magnetic field gradients allows to determine the position and orientation of the microsystem. Experimental results show that localization is possible in 3 ms with sub-millimeter spatial resolution
Batmaz, Anil Ufuk. "Speed, precision and grip force analysis of human manual operations with and without direct visual input". Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAJ056/document.
Pełny tekst źródłaPerceptual system of a surgeon must adapt to conditions of multisensorial constrains regard to planning, control, and execution of the image-guided surgical operations. Three experimental setups are designed to explore these visual and haptic constraints in the image-guided training. Results show that subjects are faster and more precise with direct vision compared to image guidance. Stereoscopic 3D viewing does not represent a performance advantage for complete beginners. In virtual reality, variation in object length, width, position, and complexity affect the motor performance. Applied grip force on a surgical robot system depends on the user experience level. In conclusion, both time and precision matter critically, but trainee gets as precise as possible before getting faster should be a priority. Study group homogeneity and background play key role in surgical training research. The findings have direct implications for individual skill monitoring for image-guided applications
Rubbert, Lennart. "Conception de mécanismes compliants pour la robotique chirurgicale". Phd thesis, Université de Strasbourg, 2012. http://tel.archives-ouvertes.fr/tel-00801892.
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