Pierre Renaud

Maître de Conférences. Associate Professor. EAVR/LSIIT (UMR7005, ULP-CNRS) - Insa de Strasbourg

Phone: 33(0) 88 14 47 00 - Ext. 4851- Fax : 33(0)3 88 14 47 99 - INSA Strasbourg

Phone: 33(0) 88 11 91 47 - IRCAD

Resume

• 2010 - 2011 Visiting Associate Professor at Stanford University (USA). Research at the Biomimetics and Dexterous Manipulation Lab (BDML). Fulbright Fellow.
  
  
• 2008 - present Associate Professor at Institut National des Sciences Appliquées de Strasbourg - Research at LSIIT - EAVR
  
  
• 2004 - 2007 Associate Professor at INSA Strasbourg. Research at Laboratoire de Génie de la Conception (EA3938)
  
  
• 2003 - 2004 Postdoc position at Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier, France (LIRMM)
  
  
• 2000 - 2003 Ph.D. student at LaRAMA - LASMEA, Clermont-Ferrand, France. PhD thesis: "Apport de la vision pour l'identification géométrique de mécanismes parallèles" - "Towards vision-based kinematic calibration of parallel mechanisms". Lecturer at Institut Français de Mécanique Avancée (IFMA)
  
  
• 1999 - 2000 M.Sc. "Mechanics and Materials" from ENS Cachan - Training Period at LMT Cachan
  
  
• 1998 - 1999 Agregation in Mechanical Engineering
  
  
• 1996 - 1998 B.Sc. in Mechanical Engineering - ENS Cacha, France. Training Period at UC Santa Barbara (USA)

Teaching activities

• Mechatronics Project ( Mechatronics Dept - 3th to 5th year)

• Robot Integration (Mechatronics Dept - 5th year)

• Automatic Control (Mechanical Engineering Dept - 4th year)

• Applied mechanics (Mechanical Engineering Dept - 3rd year)
  
  
• Experimentation labs (Mechanical Engineering Dept - 2nd year)

• Automatic Control (Mechanical Engineering Dept - 3rd year)

Research activities

Keywords

Medical and Surgical Robotics, Robotics, Mechatronics, Mechanical Design,  Control, Parallel Mechanisms, Compliant mechanisms, 

Context

My research takes place in the IRMC research group (Computer Vision and Robotics for Surgery), associating surgeons and research teams (further information in french here). Our lab is located at IRCAD, specialized in the development of new surgical technologies.

Running projects

Beating heart surgery - The Cardiolock Project

 

Active cardiac stabilization for beating heart coronary artery bypass grafting:

• Vision-based control

• Design of compliant mechanisms

PhD thesis of Wael Bachta (pdf) - partly funded by CNRS-JST, project between Tohoku University (Sendai, Japan) and Strasbourg University

Best Student paper in Robotics, MICCAI 2007

 

PhD thesis of Lennart Rubbert

 

Robotized Transcranial Magnetic Stimulation

 

 

Design of a robotic system for Transcranial Magnetic Stimulation:

• Original architecture to optimize the patient safety

• Control of the contact force of the stimulation coil on the patient head, and compensation of the patient movements

PhD thesis of Cyrille Lebossé (pdf)

ANR EmergenceTec funding, OSEO Emergence funding (CaRE-Mo project)

Co-founder of Axilum Robotics (website)

 

Robotics for MRI

^{(www.siemens.com)}

Robotics for MRI guided percutaneous procedures:

Collaboration with the Department of Radiology of the University Hospital of Strasbourg

Development of a device for image-guided percutaneous procedures

PhD thesis of Salih Abdelaziz

 

Participation to older projects

ROBEA MAX

 

 

MAX: Machines with Complex Architecture: From design to performance and autonomy. Joint project between

Development of vision-based kinematic calibration methods for parallel mechanisms

Partners: LIRMM (Montpellier), LASMEA (Clermont-Ferrand), IRCCYN (Nantes), INRIA Sophia-Antipolis

 

ROBEA GABIE

 

 

GABIE. Active Guidance Based on Echographic Images. Joint project between LIRMM, (Montpellier) LRP (Paris), TIMC (Grenoble), CEA/SRSI (Fontenay-aux-Roses), Pitié Salpêtrière hospital (Paris) and Grenoble hospital.

Publications

International journals

[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, to appear.
[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. pdf
[2011]	W. Bachta, P. Renaud, E. Laroche, J. Gangloff, “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. pdf
[2011]	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. pdf
[2011]	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. pdf
[2011]	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. pdf
[2009]	W. Bachta, P. Renaud, L. Cuvillon, E. Laroche, A. Forgione, J. Gangloff, « Motion Prediction for Computer-Assisted Beating Heart Surgery », IEEE Transactions on Biomedical Engineering, Vol. 11, n°11, pp. 2561-2563. pdf
[2008]	W. Bachta, P. Renaud, E. Laroche, A. Forgione, J. Gangloff, « Cardiolock: an active cardiac stabilizer - First in vivo experiments using a new robotized device », Computer Aided Surgery, Vol. 13, n°5, pp. 243-254. pdf
[2006]	P. Renaud, A. Vivas, N. Andreff, P. Poignet, P. Martinet, F. Pierrot, O. Company, « Kinematic and Dynamic Identification of Parallel Mechanisms », Control Engineering Practice, 14(9), pp. 1099-1109. pdf
[2006]	P. Renaud, N. Andreff, J.-M. Lavest, M. Dhome, « Simplifying the Kinematic Calibration of Parallel Mechanisms Using Vision-Based Metrology », IEEE Transactions on Robotics, Vol. 22, n°1, pp. 12-22. pdf
[2005]	P. Renaud, N. Andreff, G. Gogu, P. Martinet, « Kinematic calibration of parallel mechanisms: a novel approach using legs observation », IEEE Transactions on Robotics, Vol. 21, n°4, pp. 529-538. pdf
[2004]	N. Andreff, P. Renaud, P. Martinet, F. Pierrot, “ Vision-based kinematic calibration of an H4 parallel mechanism: practical accuracies “, Industrial Robot, Vol. 31, n°3, pp. 273-283, march 2004.pdf

 

Patents

[2007]	C. Lebossé, P. Renaud, B. Bayle, M. de Mathelin, O. Piccin, E. Laroche, "Installation robotisée pour le positionnement et le déplacement d'un organe ou instrument et appareil de traitement comprenant une telle installation", WO/2008/001003 , june 2007.(wipo)

Book Chapters

[2011]	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, Springer, à paraître
[2010]	S. Abdelaziz, P. Renaud, B. Bayle, M. de Mathelin, « Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator”, in Advances in Robot Kinematics: Motion in Man and Machine, Springer, 2010, J. Lenarcic, M. Stanisic Eds, ISBN: 978-90-481-9261-8
[2010]	W. Bachta, P. Renaud, E. Malis, K. Hashimoto, J. Gangloff, "Visual servoing for beating heart surgery", in Visual Servoing via Advances Numerical Methods, LNCS, Springer, G. Chesi, L. Hashimoto Eds, ISBN 978-84996-088-5
[2010]	B. Bayle, O. Piccin, L. Barbé, P. Renaud, M. de Mathelin, "Image Guided Interventions ans Robotics", in Computational Surgery and Dual Training, Springer, M. Garbey, B. Bass, C. Collet, M. de Mathelin, R. Tran-Son-Taya Eds, ISBN 978-1441911223

 

National Journals

[2008]

C. Lebossé, B. Bayle, P. Renaud, M. de Mathelin, "Planification de mouvements des manipulateurs redondants lorsque le mouvement de l'organie terminal est imposé", Journal Européen des Systèmes Automatisés, Volume 42, n°1, pp. 95-115, 2008.

International Conferences

[2011]	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.
[2011]	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]	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 ”, 25th International Congress of Computer Assisted Radiology and Surgery, Berlin, Allemagne.
[2009]	P. Renaud, M. de Mathelin, "Kinematic Analysis for a Novel Design of MRI-Compatible Torque Sensor", In IEEE Int. Conf. on Int. Robots and Systems (IROS), Saint-Louis, USA.
[2009]	W. Bachta, P. Renaud, E. Laroche, J. Gangloff, "Cardiolock2: "Parallel singularities for the design of an active heart stabilizer". In IEEE Int. Conf. on Robotics and Automation (ICRA), Kobe, Japan, 2009.
[2008]	C. Lebossé, P. Renaud, B. Bayle, M. de Mathelin, "Nonlinear modeling of low cost force sensors". In IEEE Int. Conf. on Robotics and Automation (ICRA), Pasadena, USA, 2008.
[2008]	W. Bachta, E. Laroche, P. Renaud, J. Gangloff, "Asservissement d'un stabilisateur cardiaque actif", In Conférence Internationale Francophone d'Automatique (CIFA), 2008, Bucarest.
[2008]	W. Bachta, E. Laroche, P. Renaud, J. Gangloff, "Active cardiac stabilization using H infinity control methodology", IFAC World Congress, 2008.
[2007]	C. Lebossé, P. Renaud, B. Bayle, M; de Mathelin, J. Foucher, "A Robotic System for Automated Image-Guided Transcranial Magnetic Stimulation". Third IEEE-NIH Life Sciences Systems and Applications Workshop, Bethesda, USA, pp. 55-58.
[2007]	W. Bachta, P. Renaud, E. Laroche, A. Forgioneand J. Gangloff . "Design and control of a new active cardiac stabilizer". In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) San Diego, USA, 2007, pp. 404-409.
[2007]	W. Bachta, P. Renaud, E. Laroche, J. Gangloff and A. Forgione. "Cardiolock: an active cardiac stabilizer, first in vivo experiments using a new robotized device". In Medical Image Computing and Computer-Assisted Intervention (MICCAI) Brisbane, Australia, 2007, LNCS 4791, pp. 78-85. MICCAI Young Scientist Award in Robotics for W. Bachta
[2006]	C. Lebossé, P. Renaud, B. Bayle, M. de Mathelin, O. Piccin, E. Laroche, J. Foucher, "Robotic image-guided transcranial magnetic stimulation", CARS 2006, Osaka, Japan, pp.137-139. pdf
[2005]	O. Piccin, P. Renaud, L. Barbé, B. Bayle, B. Maurin, M. de Mathelin. A robotized needle insertion device for percutaneous procedures. Proceedings of the 2005 ASME Design Engineering Technical Conferences, Long Beach, CA, USA, September 2005.pdf
[2005]	M. Sauvee, P. Renaud, Ph. Poignet, J. Triboulet, E. Dombre, M. Karouia, N. Bonnet, A. Noce "Mitral valve leaflet motion tracking in ultrasound images", Surgetica 2005: Computer Assisted Medical and Surgical Interventions, Sauramps Medical, pp. 237-244, ISBN 2840234084.
[2004]	P. Renaud, E. Cervera, P. Martinet, « Towards a reliable vision-based mobile robot formation control », IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3176-3181, october 2004, Sendai, Japon.pdf
[2004]	P. Renaud, N. Andreff, F. Pierrot, P. Martinet, « Combining end-effector and legs observation for kinematic calibration of parallel mechanisms », IEEE International Conference on Robotics and Automation (ICRA’2004), april 2004, New-Orleans, USA.pdf
[2004]	P. Renaud, N. Andreff, G. Gogu, P. Martinet, « On Vision-based Kinematic Calibration of a Stewart-Gough Platform » - 2003 IFTOMM World Congress in Mechanism and Machine Science, pp. 1906-1911, postponed in april 2004, Tianjin, China.pdf
[2004]	P. Renaud, N. Andreff, S. Krut, G. Gogu, « Kinematic calibration of linear-actuated parallel mechanisms from leg observation » - 35th International Symposium on Robotics, april 2004, Paris, France.pdf
[2003]	P. Renaud, N. Andreff, G. Gogu, M. Dhome, « Optimal pose selection for vision-based kinematic calibration of parallel mechanisms » - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2003), pp. 2223-2228, vol. 3, Las Vegas, USA, october 2003, ISBN 0-7803-7861-X.pdf
[2003]	P. Renaud, N. Andreff, G. Gogu , P. Martinet, « On Vision-based Kinematic Calibration of n-leg parallel mechanisms » - 13th IFAC Symposium on System Identification, august 2003, Rotterdam, Netherlands.pdf
[2003]	P. Renaud, N. Andreff, F. Marquet, P. Martinet, « Vision-based Kinematic Calibration of a H4 parallel mechanism » - 2003 IEEE International Conference on Robotics and Automation, pp. 1191-1196, Taipei, Taiwan, september 2003, ISBN 0-7803-7737-0.pdf
[2002]	P. Renaud, N.Andreff, M. Dhome, P. Martinet, « Experimental Evaluation of a Vision-Based Measuring Device for Parallel Machine-Tool Calibration », in 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2002), pp. 1868-1873, Lausanne, Suisse, october 2002, ISBN 0-7803-7399-5.pdf
[2002]	P. Renaud, N. Andreff , G. Gogu, P. Martinet . « Dynamic Identification of Mechanisms using a Robust Design of Experiments » in 4th International Conference on Integrated Design and Manufacturing in Mechanical Engineering (IDMME'2002), Clermont-Ferrand, France, May 2002, ISBN 2-9518169-0-1.

 

National Conferences

[2011]	S. Abdelaziz, L. Esteveny, P. Renaud, B. Bayle, M. de Mathelin, « Développement d’un système robotique pour la cryothérapie de la prostate », Congrès français de mécanique, août 2011, Besançon, France, à paraître
[2007]	C. Lebossé, P. Renaud, B. Bayle, O. Piccin, J. Foucher, M. de Mathelin, "Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale", C2I 2007 (Colloque Interdisciplinaire en Instrumentation), octobre 2007, Nancy, France, pp. 369-376.
[2004]	P. Renaud, N. Andreff, G. Gogu, P. Martinet, M. Dhome, « Identification géométrique de mécanismes parallèles par vision », RFIA’2004 (Reconnaissance des Formes et Intelligence Artificielle), january 2004, Toulouse, France, actes sur CD-ROM.pdf
[2003]	P. Renaud, N. Andreff, G. Gogu, P. Martinet, F. Marquet, « Etalonnage géométrique de mécanismes parallèles par vision » - Colloque national AIP Priméca, march 2003, La Plagne, France.
[2002]	P. Renaud, N. Andreff, M. Dhome, P. Martinet, « Utilisation d'un outil de métrologie par vision pour l'étalonnage de machines-outils », in 2èmes Assises Usinage Grande Vitesse, pp. 151-160, march 2002, Lille, France.

 

Other Communications

[2007]	W. Bachta, P. Renaud, E. Laroche, J. Gangloff, "Chirurgie cardiaque robotisée à coeur battant, conception et commande d'un stabilisateur cardiaque actif". Journées Nationales de la Recherche en Robotique, Session Poster, 2007.
[2005]	E. Dombre, F. Pierrot, Ph. Poignet, P. Renaud, M. Sauvée, J. Triboulet, Ph. Bidaud, G. Morel, T. Ortmaier, S. Pinault, M.A. Vitrani, Ph. Gravez, N. Bonnet, M. Karouia, O. Chavanon, V. Daanen, J. Troccaz, Projet GABIE : Guidage Actif Basé sur l'Imagerie Échographique, Journées du Programme Interdisciplinaire CNRS ROBEA, 2005.
[2004]	"Robea MAX : Bilan", Andreff N., Bouzgarrou C.B., Dombre E., Chablat D., Company O., Dhome M., Fauroux J.C., Gocu G., Khalil W., Krut S., Marquet F., Martinet P., Merlet J.P., Pierrot F., Poignet P., Ray P., Renaud P., Vivas A., Wenger P, Journées du Programme Interdisciplinaire CNRS ROBEA, January 2004.
[2002]	P. Renaud, N. Andreff, G. Gogu, P. Martinet, M. Dhome, « Identification géométrique de mécanismes parallèles par vision » , Annales scientifiques de l’Université Blaise Pascal, 46(114), 2003, ISSN 0249-7042."Robots à Architecture Complexe : De la Conception à la Performance et l'Autonomie",
[2002]	Andreff N., Bouzgarrou C.B., Dombre E., Chablat D., Company O., Dhome M., Fauroux J.C., Gocu G., Khalil W., Krut S., Marquet F., Martinet P., Merlet J.P., Pierrot F., Poignet P., Ray P., Renaud P., Vivas A., Wenger P, Journées du Programme Interdisciplinaire CNRS ROBEA, pp. 7-11, 2002.
[2002]	P. Renaud, N. Andreff, F. Marquet, M. Dhome, G. Gogu, P. Martinet, F. Pierrot, « Identification géométrique d'un robot parallèle H4 à l'aide d'un outil de métrologie par vision » in Actes des 16èmes Journées Jeunes Chercheurs en Robotique, september 2002, Villeurbanne, France.
[2001]	F. Hild, S. Calloch, J.N. Perie, P. Renaud, « Couplages essais/mesures de champs/simulations : quelques exemples », in Colloque National Mecamat "Multi-Approche en Mécanique des Matériaux", 2001, Aussois, France.

 

Dissertation

[2011]	P. Renaud, « Apport de la mécatronique pour la robotique médicale », Habilitation à diriger des recherches, Université de Strasbourg. pdf
[2003]	P. Renaud, « Apport de la vision pour l’identification géométrique de mécanismes parallèles», PhD Thesis, Université Blaise Pascal, Clermont-Ferrand, september 2003.pdf