Professeur des universités – Professor

Deputy Head of the AVR research group

ICube (UMR 7357, UDS-CNRS-INSA)

At INSA Strasbourg:

Phone: 33(0) 3 88 14 47 00 – Ext. 4851

Fax : 33(0)3 88 14 47 99 

At IRCAD:

Phone: 33(0) 3 88 11 91 47 

 

 

Teaching activities

Industrial robotics, Compliant Mechanisms, Robot Calibration, Additive Manufacturing, Automatic Control, Applied Mechanics, Mechatronics Project

Research activities

Keywords: Medical and Surgical Robotics, Robotics, Mechatronics, Additive Manufacturing, Mechanical Design, Parallel Mechanisms, Compliant mechanisms

Context: The Control, Vision and Robotics Lab (AVR website) is part of the ICube laboratory. The group is involved in the LABEX CAMI, a national initiative in the field Computer Assisted Medical Interventions, and ROBOTEX, a national network of robotic platforms funded by the « Investissements d’Avenir » program.

Our lab is mainly located at IRCAD, an institute specialized in the development of new surgical technologies

Research themes: 

Development of compliant systems: from their analysis to their design and manufacturing

Additive manufacturing for robotics: use of additive manufacturing for sensing, actuation and robot integration (More info on IRIS – Equipex platform here)

Cable driven mechanisms and tensegrities: from modeling to their design

Mechatronics for medical robotics: new robotic designs and architectures thanks to mechatronic design

Research projects


Origami-based reconfigurable robots for multi-modal locomotion:
Development of new actuated origami-based structure for locomotion. ANR Project with ISM, Marseille and Femto-ST, Besançon. Project website here.

 

 

Robotic assistance for percutaneous procedures:  Design of the SPIRIT device (Simple Printed Interactive Robot for Interventional Therapy) using multi-material additive manufacturing and a compliant structure. Nearly made of single element, it is compatible with main imaging modalities (MRI, CT, fluoroscopy), lightweight and very compact. Support of Equipex ROBOTEX. Interreg SPIRITS project presented here.

 

Flexible robotics for microbiota evaluation, FLEXTER project:  Combination of additive manufacturing and compliant mechanisms for the design of new devices related to microbiota investigation. Support of Labex CAMI, TIMC-Imag, ICube and LIRMM partners of the project .

 

 

Tensegrity-based robotic manipulation: Design of robotic manipulator based on a tensegrity mechanism, for medical applications. ANR Project Multiflag with FEMTO-ST and ISIR as coordinator. Previously, collaboration with LIRMM, Montpellier and support of FLI WP3. 

 

 

 

Microrobotic nasal endoscopy by OCT: Design of a robotic device for in vivo inspection of olfactory cells (more info here). Support of ANR, NEMRO project.

 

 

 

 

 

 

 

 

 

Robotized Transcranial Magnetic Stimulation: Design of a robotic system with industriel transfer through the creation of Axilum Robotics. Co-founder, member of the Scientific Committee of Axilum Robotics.

 

 

Robotic assistance for interventional radiology on the prostate (discontinued): Design of a cable-driven mechanism offering MR-compatibility with instrumented structure for fine cable tension management. Collaboration with the Department of Radiology of the University Hospital of Strasbourg. 

 

 

 

Robotic assistance for Magnetic Resonance Elastography (discontinued):  Needle-based elastography for local mechanical excitation of tissues in quantitative elastography. PZT-based design using additive manufacturing with original needle clamping system. Support of IHU Strasbourg.

 

 

 

Robotic assistance for beating heart surgery (discontinued): Active cardiac stabilization for beating heart coronary artery bypass grafting with vision-based control of compliant mechanisms.

 

 

 

Resume

  • 2013 – present: Professor at Institut National des Sciences Appliquées de Strasbourg. – Research at ICube – AVR
  • 2010 – 2011: Visiting Associate Professor at Stanford University (USA). Research at the Biomimetics and Dexterous Manipulation Lab (BDML). Fulbright Fellow.
  • 2008 – 2013: Associate Professor at Institut National des Sciences Appliquées de Strasbourg 
  • 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: « 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 Cachan, France. Training Period at UC Santa Barbara (USA)

Publications

International journals

  • [2019] Q. Peyron, K. Rabenorosoa, N. Andreff, P. Renaud, “A numerical framework for the stability and cardinality analysis of concentric tube robots: Introduction and application to the follow-the-leader deployment”, Mechanism and Machine Theory, Vol. 132, pp. 176-192.
  • [2018] A. Pfeil, R.L. Cazzatto, L. Barbé, P. de Marini, J.B. Chiang, J. Garnon, P. Renaud, A. Gangi, « Robotically Assisted CBCT-Guided Needle Insertions: Preliminary Results in a Phantom Model”, Cardiovascular and Intervantional Radiology, Vol. 42(2), pp. 283-288.
  • [2018] B. Rosa, B. Dahroug, B. Tamadazte, K. Rabenorosoa, P. Rougeot, N. Andreff, P. Renaud, “Online Robust Endomicroscopy Video Mosaicking Using Robot Prior”, IEEE Robotics and Automation Letters, Vol 3(4), pp. 4163-4170. 
  • [2018] Q. Peyron, Q. Boehler, K. Rabenorosoa, B.J. Nelson, P. Renaud, N. Andreff, “Kinematic analysis of magnetic continuum robots using continuation method and bifurcation analysis”, IEEE Robotics and Automation Letters, Vol 3(4), pp. 3646-3653. 
  • [2018] C. Girerd, T. Lihoreau, K. Rabenorosoa, B. Tamadazte, M. Benassarou, L. Tavernier, L. Pazart, E. Haffen, N. Andreff, P. Renaud, “In Vivo Inspection of the Olfactory Epithelium: Feasibility of Robotized Optical Biopsy”, Annals of Biomedical Engineering, Vol. 46(11), pp. 1951-1961.
  • [2018] Q. Boehler, M. Vedrines, S. Abdelaziz, P. Poignet, P. Renaud, « Synthesis method for the design of variable stiffness components using prestressed singular elastic systems », Mechanism and Machine Theory, Vol. 121, pp. 598-612.
  • [2017] L. Rubbert, I. Charpentier, S. Henein, P. Renaud, “Higher-order continuation method for the rigid-body kinematic design of compliant mechanisms”, Precision Engineering, vol. 50, pp. 455-466.
  • [2017] 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, vol 107, pp. 1-12.
  • [2017] S. Abdelaziz, L. Barbé, P. Renaud, M. de Mathelin and B. Bayle, « Control of Cable-driven Manipulators in the Presence of Friction », Mechanism and Machine Theory, vol. 107, pp. 139-147.
  • [2016] G. Hentz, I. Charpentier, P. Renaud, « Higher-order continuation for the determination of robot workspace boundaries », Comptes Rendus Mécanique, Vol. 344, n°2, pp. 95-101, 2016.
  • [2015] 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, DOI: 10.1002/mrm.25694, pages 1110-1118, Volume 75, n° 3.
  • [2015] 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, Vol. 55, n°22, pp. 6912-6918.
  • [2015] A. Bruyas, F. Geiskopf, P. Renaud, « Design and Modeling of a Large Amplitude Compliant Revolute Joint: the Helical Shape Compliant Joint », ASME Journal of Mechanical Design, 2015.
  • [2015] Q. Boehler, I. Charpentier, M. Vedrines, P. Renaud, « Definition and Computation of Tensegrity Mechanism Workspace », ASME Journal of Mechanisms and Robotics, Vol. 7, n°4, pp. 044502.
  • [2015] S. Elayaperumal, M.R. Cutkosky, P. Renaud, B. Daniel. A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions, ASME Journal of Medical Devices 9(1), pp. 011008 
  • [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, Vol. 31, n°1, pp. 1-11
  • [2014] S. Abdelaziz, L. Esteveny, L. Barbé, P. Renaud, B. Bayle, M. de Mathelin, « Design of an MRI-compatible Cable-driven Manipulator with Original Instrumentation and Synthesis Methods », ASME Journal of Mechanical Design, Vol. 136, n°9, pp. 091006-091006-10.
  • [2014] L. Rubbert, S. Caro, J. Gangloff, P. Renaud, « Using Singularities of Parallel Manipulators to Enhance the Rigid-Body Replacement Design Method of Compliant Mechanisms », ASME Journal of Mechanical Design, vol. 135, n°5, pp. 0511010.
  • [2012] L. Rubbert, P. Renaud, S. Caro, J. Gangloff, « Design of a compensation mechanisms for an active cardiac stabilizer based on an assembly of planar compliant mechanisms », Mechanics & Industry, Vol. 15, n°2, pp. 147-151
  • [2011] 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.
  • [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] 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
  • [2009] 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
  • [2008] 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
  • [2006] 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
  • [2005] 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
  • [2004] 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

  • [2015] M. Nierenberger, P. Renaud, L. Barbé, B. Wach, A. Bruyas, « Dispositif pneumatique de maintien et de déplacement d’un objet allongé et système médical intégrant un tel dispositif », FR15 61373.
  • [2014] M.R. Cutkosky, B.L. Daniel, S. Elayaperumal, P. Renaud, Y.-L. Park, Master-Slave Apparatus and Approach, US20140257091
  • [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

  • [2014] Q. Boehler, M. Vedrines, S. Abdelaziz, P. Poignet, P. Renaud, « Influence of spring characteristics  onthe behavior of tensegrity mechanisms », in Advances in Robot Kinematics, pp. 161-169, Springer, 2014.
  • [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, J. Lenarcic, M. Stanicic Eds 
  • [2012] 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, pp. 203-210.
  • [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

  • [2016] R. Ginhoux, B. Bayle, P. Renaud, « La robotique au service de la stimulation magnétique transcrânienne (TMS) « , Neurophysiologie Clinique/Clinical Neurophysiology, Volume 46, Issue 2, Page 85, 2016.
  • [2012] W. Bachta, E. Laroche, P. Renaud, J. Gangloff, « Commande robuste d’un stabilisateur cardiaque actif », Journal Européen des Systèmes Automatisés, Vol. 46, n°4-5, pp. 559-575
  • [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

  • [2019] A. Pfeil, M. Siegfarth, F. Geiskopf, T.P. Pusch, L. Barbé, P. Renaud, “Hydraulically-actuated compliant revolute joint for medical robot systems based on multimaterial additive manufacturing”, IEEE Int. Conf. on Robotics and Automation (ICRA), to appear.

  • [2019] J. Begey, M. Nierenberger, S. Lecler, P. Renaud, “Design and evaluation of a quasi-zero stiffness force sensor exploiting an optical line”, IEEE Int. Conf. on Robotics and Automation (ICRA), to appear.

  • [2018] Q. Peyron, K. Rabenorosoa, N. Andreff, P. Renaud, “Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robots”, Adv. In Robot Kinematics, pp. 100-107.
  • [2018] B. Rosa, K. Rabenorosoa , B. Tamadazte , P. Rougeot , N. Andreff , P. Renaud, “Building robust confocal endomicroscopy mosaics despite image losses”, Hamlyn Symposium on Medical Robotics, Londres, United Kingdom
  • [2018] A. Pfeil, L. Barbé, B. Wach, F. Geiskopf, M. Nierenberger and P. Renaud, A 3D-printed needle driver based on auxetic structure and inchworm kinematics. In ASME International Design Engineering Technical Conference (IDETC), August, Quebec, Canada, pp. V05AT07A057. 
  • [2018] A. Pfeil, L. Barbé, B. Wach, R.L. Cazzatto, A. Gangi, P. Renaud, “Observations and Experiments for the Definition of a New Robotic Device dedicated to CT, CBCT and MRI-guided Percutaneous Procedures”, In the 40th IEEE Conference on Engineering in Medicine and Biology Conference (EMBC), Honolulu, pp. 1708-1712.
  • [2018] M. Ben Salem, G. Aiche, L. Rubbert, P. Renaud, Y. Haddab, “Design of a Microbiota Sampling Capsule using 3D-Printed Bistable Mechanism”, In the 40th IEEE Conference on Engineering in Medicine and Biology Conference (EMBC), Honolulu, pp. 4868-4871.
  • [2018] Y. Haddab, G. Aiche, H. Hussein, M. Ben Salem, P. Lutz, L. Rubbert, P. Renaud, “Mechanical bistable structures for microrobotics and mesorobotics: From microfabrication to additive manufacturing”, Manipulation, Automation and Robotics at Small Scales (MARSS), Nagoya, Japan, pp. 1-6.
  • [2018] L. Viot, S. Lecler, P. Pfeiffer, J. Begey, F. Geiskopf, M. Nierenberger, P. Renaud, “Optical line generation using a 3D-printed component: application for the development of a force sensor”, SPIE Photonics Europe, to appear.
  • [2017] C. Girerd, K. Rabenorosoa, P. Rougeot, P. Renaud, “Towards Optical Biopsy of Olfactory Cells using Concentric Tube Robots with Follow-the-Leader Deployment”, IEEE Int. Conference on Intelligent Robots and Systems, Vancouver, pp. 5661-5887.
  • [2016] Q. Boehler, S. Abdelaziz, M. Vedrines, P. Poignet, P. Renaud, « Towards the control of tensegrity mechanisms for variable stiffness applications: a case study », 6th European Conference on Mechanism Science, Nantes, France, P. Wenger (Eds.), Springer International Publishing, septembre 2016
  • [2016] C. Girerd, K. Rabenorosoa , P. Renaud, « Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric-Tube Robots », in ARK 2016 – Advances in Robot Kinematics, Nice, France.
  • [2016] G. Hentz, I. Charpentier, L. Rubbert, P. Renaud, « A Taylor-based continuation method for the determination and classification of robot singularities », ARK 2016 – Advances in Robot Kinematics, Nice, France, juin 2016
  • [2016] N. Corbin, J. Vappou, P. Rao, B. Wach, L. Barbé, P. Renaud, M. de Mathelin, É. Breton, « In vivo monitoring of percutaneous thermal ablation by simultaneous MR Elastography and Thermometry », 24th annual meeting of the International Society for Magnetic Resonance in Medicine (ISMRM), Singapour, Singapore, ISMRM, mai 2016. Summa Cum Laude Third Prize of the MRE-Study Group meeting.
  • [2016] Q. Boehler, M. Vedrines, S. Abdelaziz, Ph. Poignet, P. Renaud, « Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design », IEEE ICRA, Stockholm,  pages 661-667.
  • [2016] S. Lecler, F. Geiskopf, P. Pfeiffer, M. Nierenberger, P. Renaud, « 3D-printed MRI-compatible piezo optic force sensor », SPIE Photonics Europe, Brussels.
  • [2015] A. Bruyas, F. Geiskopf, P. Renaud, « Toward Unibody Robotic Structures with Integrated Functions Using Multimaterial Additive Manufacturing: Case Study of an MRI-Compatible Interventional Device », IEEE IROS, Hamburg, pp. 1744-1750.
  • [2015] Q. Boehler, M. Vedrines, S. Abdelaziz, P. Poignet, P. Renaud. « Parallel Singularities for the Design of Softening Springs using Compliant Mechanisms », ASME IDETC 2015, Boston, United States, Volume 5A: 39th Mechanisms and Robotics Conference, Paper No. DETC2015-47240, pp. V05AT08A019
  • [2015] N. Corbin, J. Vappou, É. Breton, Q. Boehler, L. Barbé, P. Renaud, M. de Mathelin, « Interventional Magnetic Resonance Elastography for MRI-guided percutaneous procedures », International Society for Magnetic Resonance in Medicine (ISMRM), Toronto, Canada, ISMRM (Eds.), June 2015. Magna Cum Laude First prize for Young Investigator award from MR Elastography study group.
  • [2014] A. Bruyas, F. Geiskopf, P. Renaud, « Towards Statically Balanced Compliant Joints Using Multimaterial 3D Printing », ASME DETC, Buffalo, USA, Best Interactive Presentation Award, Volume 5A: 38th Mechanisms and Robotics Conference, Paper No. DETC2014-34532, pp. V05AT08A033.
  • [2014] A. Bruyas, F. Geiskopf, L. Meylheuc, P. Renaud, « Combining Multi-Material Rapid Prototyping and Pseudo-Rigid Body Modeling for a New Compliant Mechanism », IEEE ICRA, Hong Kong, China, Best Automation Paper Award Finalist,pp. 3390 – 3396.
  • [2014] N. Corbin, E. Breton, P. Renaud, L. Barbé, M. de Mathelin, J. Vappou, « All-in-one interventional MR elastography (MRE) system dedicated to MR-guided percutaneous procedures, Joint Annual Meeting ISMRM – ESMRMB, Milan, Italy
  • [2014] Q. Boehler, M. Vedrines, S. Abdelaziz, P. Poignet, P. Renaud, « Toward an MR-compatible needle holder with adaptive using an active tensegrity mechanism », Surgetica.
  • [2013] N. Corbin, Q. Boehler, É. Breton, L. Barbé, P. Renaud, M. de Mathelin, J. Vappou, Assisting MRI-guided percutaneous procedures with elastography: development of an interventional MR-Elastography protocol, Twelfth Internation Tissue Elasticity Conference (ITEC 2013), Lingfield, Royaume-Uni
  • [2013] R. Ginhoux, P. Renaud, L. Zorn, L. Goffin, B. Bayle, J. Foucher, J. Lamy, J.-P. Armspach, M. de Mathelin, « A Custom Robot for Transcranial Magnetic Stimulation: First Assessment on Healthy Subjects », IEEE EMBC, Osaka, Japan, pp. 5352 – 5355.
  • [2012] L. Rubbert, P. Renaud, J. Gangloff, « A Design Method Based on Ant Colony Optimization for Compliant Mechanisms: Introduction and Application to a Surgical Tool », ASME IDETC 2012, Chicago, USA, Volume 4: 36th Mechanisms and Robotics Conference, Paper No. DETC2012-70383, pp. 229-238.
  • [2012] L. Rubbert, P. Renaud, J. Gangloff, « Design and Optimization for a Cardiac Stabilizer Based on Planar Parallel Compliant Mechanisms », ASME ESDA2012, Nantes, France, Paper No. ESDA2012-82278, pp. 235-244.
  • [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 Automation
    Saint Paul, Minnesota, États-Unis, pp. 1488–1494, November 2012
  • [2012] 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, pp. 1589 – 1594.
  • [2012] L. Esteveny, G. Tsoumakidou, P. Renaud, B. Bayle, E. Breton, A. Gangi, « A Custom Leg Holder System for MR-Guided Prostate Cryotherapy: Design and Initial Clinical Experience », 9th Interventional MRI Symposium, Boston, poster session.
  • [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/RSJ Int. Conf. on Int. Robots and Systems (IROS), 2011, pp. 2564 – 2569.
  • [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, Paper No. DETC2011-48092, pp. 633-642.
  • [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, pp. 811-9.
  • [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, pp. 2640 – 2646.
  • [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, pp. 3839 – 3844.
  • [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, pp. 3437 – 3442.
  • [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

  • [2013] 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 », 21ème Congrès Français de Mécanique, Bordeaux, France, pages 1–6, janvier 2013
  • [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
  • [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

  • [2018] A. Pfeil, R.L. Cazzatto, L. Barbé, B. Wach, P Renaud, A. Gangi, “Preclinical assessment of a new robotic device applied to minimize operators’ X-ray exposure during needle insertion under CBCT-guidance”, Congress of the Cardiovscular and Interventional Radiological Society of Europe (CIRSE), 2018.
  • [2018] Q. Peyron, K. Rabenorosoa, N. Andreff, P. Renaud, “Stability and Cardinality Analysis of Concentric Tube Robots using a Numerical Approach”, IEEE IROS 2018, Workshop on Continuum Soft Robotics.

  • [2018] M. Nierenberger, L. Barbé, B. Wach, P. Renaud, “Embedding Control in Inchworm-based Soft Actuator”, IEEE ICRA 2018, Workshop on Self-healing, Growing and Evolving Soft Robots, Brisbane, Australie.

  • [2017] A. Pfeil, A. Bruyas, Q. Boehler, B. Wach, L. Barbé, F. Geiskopf, P. Renaud, “A new multimodal 3D printed robotic assistant for interventional radiology”, pp. 33-37, Surgetica.

  • [2017] Q. Peyron, K. Rabenorosoa, N. Andreff, P. Renaud, “Toward more versatile concentric tube robots using stiffness modulation”, pp. 217-221, Surgetica.
  • [2017] C. Girerd, K. Rabenorosoa, P. Renaud, « Toward a robotized inspection of the olfactory epithelium », pp. 147-151, Surgetica.
  • [2017] T. Soranzo, Y. Haddab, P. Cinquin, P. Renaud, M. Ben Salem, L. Rubbert, « Design of ingestible intestinal content samplers”, pp. 243-247, Surgetica.
  • [2016] C. Girerd, K. Rabenorosoa , P. Renaud, « Synthesis of a New Concentric Tube Robot for Olfactory Cells Exploration », Computer/Robot Assisted Surgery (CRAS), Pise, Italy, Poster Session.
  • [2015] A. Bruyas, F. Geiskopf, P. Renaud, « Development of Unibody Robotic Mechanisms for Medical Applications Using MultiMaterial Additive Manufacturing », ASME AM3D, Poster Session.
  • [2015] G. Hentz, I. Charpentier, P. Renaud, « Higher-order continuation for the determination of robot workspace boundaries », Journées Jeunes Chercheurs en Robotique, 2015.
  • [2015] A. Bruyas, F. Geiskopf, P. Renaud, Development of New Devices for Interventional Ra- diology using 3D Printing, Journée de la Fédération de Médecine Translationnelle de Strasbourg, 2015, poster, Prix du meilleur poster
  • [2013] A. Bruyas, F. Geiskopf, P. Renaud, « Structures actives pour de nouvelles architectures en robotique compatible IRM », Journées Nationales de la Recherche en Robotique, Session Poster.
  • [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.
  • [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