Equipe AVR de ICUBE (Automatique, Vision et Robotique)

Responsables de l'équipe

RENAUD Pierre, PR INSA

Resp. Adj. : GANGLOFF Jacques, PR UNISTRA

 

Enseignants-Chercheurs de l'INSA membres de l'équipe Automatique, Vision et Robotique (AVR) de ICUBE

DURAND  Sylvain, MCF

GEISKOPF François, MCF

MEYLHEUC Laurence, MCF

PICCIN Olivier, MCF

RENAUD Pierre, PR

RUBBERT Lennart, MCF

 

Enseignants-Chercheurs de l'INSA associés à l'équipe

VEDRINES Marc, MCF

 

Thèmes et activités

Les enseignants-chercheurs de l'INSA, membres de l'équipe AVR s'intéressent particulièrement à :

- la conception mécanique et mécatronique,

- la robotique médicale.

Les thèmes et activités de l'équipe sont présentés sur la page ci-aprés :

Equipe AVR.

 

Plate-forme AVR à l'IRCAD.

Partenariats

• Institut de Recherche sur les Cancers de l'Appareil Digestif (IRCAD)

• Institut Hospitalo-Universitaire IHU MIX-Surg

• Hôpitaux universitaires de Strasbourg

 

Réseaux

• LABEX CAMI

• Equipex ROBOTEX

 

Collaborations internationales

Université de Houston

Université de Stanford

Université de Montréal

Collaborations industrielles

Karl Storz

Siemens

Axilum Robotics

 

Publications de INSA-ICUBE-AVR (depuis 2011)

Liste complète des travaux de l'équipe :  ICUBE-AVR

2016

Articles dans des revues internationales à comité de lecture 2016

 

Q. Boehler, S. Abdelaziz, M. Vedrines, P. Poignet , P. Renaud

From Modeling to Control of a Variable Stiffness Device based on a Cable-driven Tensegrity Mechanism, Mechanism and Machine Theory, Elsevier ( IF : 1.689, SNIP : 2.225, SJR : 1.264 ), Volume 107, Accepté en 2016 - publié en Janvier 2017

doi:10.1016/j.mechmachtheory.2016.09.015

 

L. Rubbert , R. Bitterli , N. Ferrier , S. Fifanski , I. Vardi , S. Henein - Isotropic springs based on parallel flexure stages  - Precision Engineering , Volume 43 , page 13 - 2016 -  

doi:10.1016/j.precisioneng.2015.07.003

 

G. Hentz , I. Charpentier , P. Renaud  - Higher-order continuation for the determination of robot workspace boundaries  - Comptes Rendus Mécanique , Volume 344 , page 95-101 – 2016 - Lien -

 

S. Chatelin, I. Charpentier, N. Corbin, L. Meylheuc, J. Vappou

An automatic differentiation-based gradient method for shear wave inversion in magnetic resonance elastography: specific application in fibrous soft tissues, Physics in Medicine and Biology, Institute of Physics: Hybrid Open Access ( IF : 2.811, SNIP : 1.648, SJR : 1.577 ), pages 5000-5019, Volume 61, juin 2016   [ Lien ]

 

N. Kumar, O. Piccin, L. Meylheuc, L. Barbé, B. Bayle

Design and Modeling of a Polymer Force Sensor, IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers (IEEE) ( IF : 3.851, SNIP : 3.082, SJR : 2.305 ), pages 555-564, Volume 21, n° 1, février 2016, 

doi:10.1109/TMECH.2015.2448662

 

Corbin, J. Vappou, É. Breton, Q. Boehler, L. Barbé, P. Renaud, M. de Mathelin

Interventional MR Elastography for MRI-Guided Percutaneous Procedures, Magnetic Resonance in Medicine, John Wiley & Sons ( IF : 3.782, SNIP : 1.427, SJR : 2.197 ), pages 1110-1118, Volume 75, n° 3, 2016, doi:10.1002/mrm.25694

Ouvrages ou participations à des ouvrages 2016

S. Durand, N. Marchand , J. Guerrero-Castellanos

General Formula for Event-based Stabilization of Nonlinear Systems with Delays in the State, Delays and Networked Control Systems, Seuret, A., Hetel, L., Daafouz, J., Johansson, K.H. (Eds.), Chapitre. 4, pages 59-77, Springer, Advances in Delays and Dynamics, Volume 6, 2016. ISBN: 978-3-319-32372-5  [ Lien ]

 

Autres productions 2016

A. Vega-Alonzo , J. Guerrero-Castellanos , S. Durand, N. Marchand , S. Maya-Rueda , G. Mino-Aguilar

« Event-based control strategy for consensus of a group of VTOL-UAVs »

Second International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP 2016), Krakow, Poland, juin 2016    [  Lien ]

2015

 

Articles dans des revues internationales à comité de lecture 2015

F. Gloriant, P. Tittelein, A. Joulin, S. Lassue

Modeling a triple-glazed supply-air window Building and Environment, vol.84, 2015, p.1-9, ISSN 0360-1323   [ Lien ]

 

Q. Boehler, I. Charpentier, M. Vedrines, P. Renaud

"Definition and Computation of Tensegrity Mechanism Workspace" - Journal of Mechanisms and Robotics, ASME (IF : 0.863), page 044502, Volume 7, No 4, November 2015, doi:10.1115/1.4029809.   [ Lien ]

 

N. Corbin, J. Vappou, É. Breton, Q. Boehler, L. Barbé, P. Renaud, M. de Mathelin

"Interventional MR Elastography for MRI-Guided Percutaneous Procedures", Magnetic Resonance in Medicine, John Wiley & Sons (IF : 3.398) . doi: 10.1002/mrm.25694.   2015,  Apr 4 -  [ Lien ]

 

M. Nierenberger, S. Lecler, P. Pfeiffer, F. Geiskopf, M. Guilhem, P. Renaud

Additive manufacturing of a monolithic optical force sensor based on polarization modulation, Applied Optics, Optical Society of America (IF : 1.649), Volume 55, No 27, 2015, Aug.  1; 54(22):6912-8. doi: 10.1364/AO.54.006912.

[   Lien ]

 

Arnaud Bruyas, François Geiskopf and Pierre Renaud - "Design and Modeling of a Large Amplitude Compliant Revolute Joint: the Helical Shape Compliant Joint"  – Journal of Mechanical design - ASME (IF : 1.165) doi:10.1115/1.4030650  Vol. 137, N° 8, 2015    -     [ Lien ]

 

Santhi Elayaperumal, Mark R. Cutkosky, Pierre Renaud and Bruce L. Daniel - « A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions » - Journal of Medical Devices 9(1), 011008 (11 pages) (Paper No: MED-13-1302; doi: 10.1115/1.4028944,  Mar 01, 2015),    [  Lien ]

 

Brevets 2015

O. Piccin, N. Kumar, L. Meylheuc, L. Barbe, B. Bayle, F. Schmitt

"Device for grasping an elongated body such a needle, and robotized device comprising the same"

US Patent 13/420,064, publication date : 8/06/2015   [  Lien ]

B36253-certificat depot.pdf  

 

M. Nierenberger, L. Barbé, P. Renaud, B. Wach, A. Bruyas

Dispositif pneumatique de maintien et de déplacement d’un objet allongé et système médical intégrant un tel dispositif, No 1561373, France, Dépôt de brevet française, 25 November 2015.

 

N. Lepoutre, L. Meylheuc, G. Bara, B. Bayle

Method for controlling the viscosity of orthopedic bone cement during its curing in percutaneous vertebroplasty, No EP15305975, France, Dépôt de brevet européen, 24 Juin 2015

 

F. Schmitt, L. Meylheuc, N. Lepoutre, B. Bayle, E. Lefeuvre , E. Martincic , A. Valls

Injection device of bone cement for percutaneous vertebroplasty, No EP15305974, France, Dépôt de brevet européen, 24 Juin 2015

 

Autres productions 2015

 

Arnaud Bruyas, François Geiskopf and Pierre Renaud

« Towards Statically Balanced Compliant Joints Using Multimaterial 3D Printing »

Paper No. DETC2014-34532, pp. V05AT08A033; 10 pages

doi:10.1115/DETC2014-34532

ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 5A: 38th Mechanisms and Robotics Conference, Buffalo, New York, USA, August 17–20, 2014

ISBN: 978-0-7918-4636-0

 

2014

Articles dans des revues internationales à comité de lecture 2014

S. Ryu, Z. Quek, J. Koh, P. Renaud, R. Black, B. Moslehi, B. Daniel, K. Cho, M. Cutkosky, « Design of an Optically Controlled MR-compatible Active Needle », IEEE Transactions on  Robotics, Volume:PP ,  Issue: 99, pages: 1 - 11, (Nov. 2014)   

[ Lien ]

 

L. Rubbert, P. Renaud, S. Caro, J. Gangloff, "Design of a compensation mechanism for an active cardiac stabilizer based on an assembly of planar compliant mechanisms", Mechanics and Industry, pages 147--151, Volume 15, No 2, September 2014, doi:10.1051/meca/2014013   [ Lien  ]

 

N. Kumar, O. Piccin, B. Bayle, "A Task-Based Type Synthesis of Novel 2T2R Parallel Mechanisms" , Mechanism and Machine Theory , Volume 77 , page 59--72 – 2014

[ Lien ]

 

S. Abdelaziz, L. Esteveny, L. Barbé, P. Renaud, B. Bayle and M. de Mathelin
"Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods"
J. Mech. Des. 136(9), 091006 (Jun 19, 2014) (10 pages)
Paper No: MD-13-1262; doi: 10.1115/1.4027783   [ Lien ]

 

Lennart Rubbert, Stéphane Caro, Jacques Gangloff and Pierre Renaud

"Using Singularities of Parallel Manipulators to Enhance the Rigid-Body Replacement Design Method of Compliant Mechanisms"
J. Mech. Des. 136(5), 051010 (Mar 25, 2014) (9 pages)
Paper No: MD-13-1297; doi: 10.1115/1.4026949  [ Lien  ]

Ouvrages 2014

 

Q. Boehler, M. Vedrines, S. Abdelaziz, P. Poignet, P. Renaud

Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms, in Advances in Robot Kinematics, pages 161--169, Lenarčič, Jadran and Khatib, Oussama (Eds.), Springer International Publishing, June 2014, doi:10.1007/978-3-319-06698-1_18.    [ Lien ]

 

J. Gagne, W. Bachta, P. Renaud, O. Piccin, E. Laroche, J. Gangloff

"Beating Heart Surgery: Active Compensation for Minimally Invasive Coronary Artery Bypass Grafting", Computational Surgery and Dual Training. M. Garbey (Eds.), pp. 203--210, Springer, 2014 ,   [  Lien  ]

 

Brevet 2014

 

M.R. Cutkosky, B.L Daniel, S. Elayaperumal, P. Renaud, Y.-L. Park,

MASTER-SLAVE APPARATUS AND APPROACH

US 2014/0257091, Brevet US., publication date : 09/11/2014  [  Lien ]

 

Autres productions 2014

Bruyas, A. ; F. Geiskopf, F. ; L. Meylheuc ; P. Renaud - " Combining Multi-Material Rapid Prototyping and Pseudo-Rigid Body Modeling for a new compliant mechanism" - 2014 IEEE International Conference on Robotics and Automation (ICRA), May 31 2014-June 7 2014, Page(s): 3390 - 3396 - NSPEC Accession Number: 14617044

Conference Location : Hong Kong

DOI: 10.1109/ICRA.2014.6907347

 

Bayle B, Kumar N., Piccin O., Meylheuc L., Barbe L. - "Design, Development and Preliminary Assessment of a Force Sensor For Robotized Medical Applications"  -  ASME International Conference on Advanced Intelligent Mechatronics (AIM)  - Juillet 2014 - http://dx.doi.org/10.1109/AIM.2014.6878273

 

2013

 

Brevet 2013

O. Piccin, N. Kumar, L. Meylheuc, L. Barbé, B. Bayle, F. Schmitt

Device for grasping an elongated body, such as a needle, and robotized device comprising the same, No WO20140240, Dépôt de brevet international, 9 August 2013, Date de publication : 13 February 2014. International Classification A61B19/00, A61B17/34, B25J15/12, B25J15/08, B23B31/12, B25J15/10, A61B17/00; Cooperative Classification A61B2034/715, A61B34/30, A61B90/11, A61B2034/305, A61B19/201, A61B19/2203, A61B2019/2246, A61B2019/2234, A61B17/3403, A61B

2012

Articles dans des revues internationales à comité de lecture 2012

Gagne, J. ; Piccin, O. ; Laroche, E. ; Diana, M. , Gangloff, J.

"GyroLock: Stabilizing the heart with control moment gyroscope (CMG) - From concept to first in vivo assessments . IEEE Transactions on Robotics, pp. 942--954, Vol. 28, Num. 4, /doi:10.1109/TRO.2012.2188162 <http://dx.doi.org/10.1109/TRO.2012.2188162>/, 2012

 

L. Rainero, P. Renaud, B. Bayle, L. Goffin, C. Lebossé, M. de Mathelin, J. Foucher, "Design and Evaluation of a Robotic System for Transcranial Magnetic Stimulation", IEEE Transactions on Biomedical Engineering, pp. 805-815, Vol. 59, n°3, (2012)

http://dx.doi.org/10.1109/TBME.2011.2179938

 

Ouvrage 2012

L. Rubbert, S. Caro, P. Renaud, J. Gangloff, "A Planar RRP Compliant Mechanism Based on the Singularity Analysis of a 3-US Parallel Mechanism", in Advances in Robot Kinematics, Springer 2012
http://dx.doi.org/10.1007/978-94-007-4620-6_48

 

Brevet 2012

Lebosse Cyrille, Renaud Pierre, Bayle Bernard, DeMathelin Michel, Piccin Olivier

 "Robotized installation for the positionning and movement of a component or instrument and treatment device that comprises such an installation"

PCT/FR2007/051518 -  US Patent 8 303 478,  Nov, 6, 2012

 

Autres productions 2012

  S. Abdelaziz, L. Esteveny, L. Barbé, P. Renaud, B. Bayle, M. de Mathelin,  Development of a MR-Compatible Cable-Driven Manipulator: Design and Technological Issues., IEEE International Conference on Robotics and AutomationSaint Paul, Minnesota, États-Unis, pp. 1488--1494, November 2012

http://dx.doi.org/10.1109/ICRA.2012.6225302

 

 S. Ryu, Z.F. Quek, P. Renaud, R.J. Black, B. Daniel M.R. Cutkosky,  "An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle", in IEEE Int. Conf. on Rob. and Automation (ICRA), St Paul, Minnesota, USA, (2012)

http://dx.doi.org/10.1109/ICRA.2012.6224964

 

2011

Articles dans des revues internationales à comité de lecture 2011

W. Bachta, P. Renaud, E. Laroche, A. Forgione, J. Gangloff  “Active stabilization for Robotized Beating Heart Surgery”, IEEE Transactions on Robotics, Volume 27, n°4, pp. 757-768,  (2011)

http://dx.doi.org/10.1109/TRO.2011.2137770

 

L. Rubbert, P. Renaud, W. Bachta, J. Gangloff "Compliant Mechanisms for an Active Cardiac Stabilizer: Lessons and New Requirements in the Design of a Novel Surgical Tool", Mechanical Sciences, Vol. 2, pp. 119-127, (2011)

doi:10.5194/ms-2-119-2011  -  lien   -

 

W. Bachta, P. Renaud, E. Laroche, J. Gangloff,       (2011)   “The Cardiolock Project: Design of an Active Cardiac Stabilizer for Cardiac Surgery”, ASME Journal of Mechanical Design, Vol. 133, n°7, pp. 071002-1--071002-10, (July 2011).

http://dx.doi.org/10.1115/1.4004117

 

C. Lebossé, P. Renaud, B. Bayle, M. de Mathelin, “Modeling and evaluation of low cost force sensors”, IEEE Transactions on Robotics, Volume 27, Issue 4, pp. 815-822, (June 2011).

http://dx.doi.org/10.1109/TRO.2011.2119850

 

S. Abdelaziz, L. Esteveny, P. Renaud, B. Bayle, L. Barbé, M. de Mathelin, A. Gangi,  “Design Considerations for a Novel MRI Compatible Manipulator for Prostate Cryoablation ”, International Journal of Computer Assisted Radiology and Surgery, (April 2011).

http://dx.doi.org/10.1007/s11548-011-0558-4

 

Brevet 2011

DeMathelin Michel, Maurin Benjamin, Bayle Bernard, Gangloff Jacques, Piccin Olivier

"Robotic positioning and orientation device and needle holder comprising one such device"

PCT/FR2005/002357   -   US patent 7,881,823 - February 1, 2011

Autres productions 2011

 

J. Gagne, O. Piccin, E. Laroche, M. Diana, and J. Gangloff. Gyrolock – First in vivo experiments of active heart stabilization using control moment gyro ( CMG). In Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 2011.

https://www2.lirmm.fr/lirmm/interne/BIBLI/CDROM/ROB/2011/ICRA_2011/data/papers/1031.pdf

 

S. Ryu, P. Renaud, R.J. Black, B. Daniel, M.R. Cutkosky  "Feasibility Study of an Optically Actuated MR-Compatible Active Needle", In IEEE/RSK Int. Conf. on Int. Robots and Systems (IROS), 2011.

https://www2.lirmm.fr/lirmm/interne/BIBLI/CDROM/ROB/2011/IROS_2011/data/papers/1815.pdf

 

S. Abdelaziz, L. Esteveny, P. Renaud, B. Bayle, M. de Mathelin,  “Design and optimization of of a novel MRI compatible wire-driven robot for prostate cryoablation”,  ASME 2011 Design Engineering Technical Conference.  (2011)

http://dx.doi.org/10.1115/DETC2011-48092