Over the past decades, Vascular Interventional Surgery Robots (VISR) have been developed to addre... more Over the past decades, Vascular Interventional Surgery Robots (VISR) have been developed to address the risks associated with X-rays used in minimally invasive vascular surgery procedures. Manipulation of over-the-wire catheters is necessary to perform complex surgery but requires high forces on the robot's end effector during rotational movements. The VISR under study mimics the physician's fingers by rolling the catheter between two planar surfaces to rotate it. In this study, an experimental set-up is used to replicate this grasping method, also used in other VISR [1, 2]. The parameters of the gripping surfaces are investigated to maximise the torque delivered to the catheter and minimise the forces required at the robot's end-effector. The implemented design of experiment (DOE) demonstrated that large and soft gripping surfaces could achieve this compromise. By adjusting these parameters, sufficient torque can be achieved on the catheter.
Dispositif implantable dans l'os temporal de dispense d'au moins un composant d'un pr... more Dispositif implantable dans l'os temporal de dispense d'au moins un composant d'un produit liquide, comprenant un catheter (20) et des moyens de deplacement du composant le long du catheter, caracterise en ce que le produit incorpore des particules de transport du composant, les particules etant deplacables sous l'effet d'un champ magnetique, en ce que le catheter comporte des portions de sortie (21) du composant hors du catheter, les portions de sorties etant reparties le long du catheter et en ce que les moyens de deplacement comprennent des moyens (11, 31) pour engendrer un champ magnetique au voisinage de chaque portion de sortie (21)pour amener le produit de portion de sortie en portion de sortie, les moyens pour engendrer un champ comprenant des bobines (31) entourant les portions de sorties (21) et reliees a un module de commande (11) agence pour successivement alimenter au moins une partie des bobines. Prothese auditive tel qu'un implant cochleaire co...
Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduct... more Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Introduction. In order to achieve a minimal trauma to the inner ear structures during array insertion, it would be suitable to control insertion forces. The aim of this work was to compare the insertion forces of an array insertion into anatomical specimens with three different insertion techniques: with forceps, with a commercial tool, and with a motorized tool. Materials and Methods. Temporal bones have been mounted on a 6-axis force sensor to record insertion forces. Each temporal bone has been inserted, with a lateral wall electrode array, in random order, with each of the 3 techniques. Results. Forceps manual and commercial tool
La chirurgie de l’oreille soufre d’un manque ressenti en termes d’assistance robotisee. En effet,... more La chirurgie de l’oreille soufre d’un manque ressenti en termes d’assistance robotisee. En effet, l’etroitesse des voies, les dimensions submillimetriques des organes manipules et les risques encourus lors de ces operations entrainent un reel besoin. De plus, il n’existe a ce jour, aucun systeme, ne serait-ce qu’a l’etat de prototype, ayant une precision et une compacite suffisantes pour repondre a ce besoin. L’objectif de ce travail est donc de concevoir un robot specifique d’aide a la microchirurgie de l’oreille moyenne. L’application de reference choisie ici est le remplacement de l’etrier par une prothese. La methode de conception proposee est generale et peut ainsi s’appliquer a d’autres domaines de la microchirurgie. Ce travail s’acheve par la realisation d’un prototype fonctionnel dont la motorisation garantit une resolution de mouvement compatible avec les exigences du cahier des charges. Le schema de commande mis en œuvre est de type maitre-esclave. Des essais sur mannequin puis sur rochers humains valident les choix structurels et dimensionnels et ouvrent des perspectives d’amelioration.
Glass workpieces are mainly planar and obtained by diamond cutting however if free-form surfaces ... more Glass workpieces are mainly planar and obtained by diamond cutting however if free-form surfaces are required, manufacturing process is usually based on shaping grinding wheels. Multi-axis waterjet cutting, an other means of obtaining planar workpieces, could also be used to machine complex shapes with appropriate manufacturing strategies. Water jet pocketing could also be achieved but it brings challenging issues since the high pressure jet composed of water and abrasive particles must be contained inside the machined pocket. Water jet glass machining optimization requires understanding of numerous parameters such as interaction between the jet and the brittle material behavior or the identification of the jet himself. We focus our investigation on bottom pocket surfaces to study these parameters. Pocket bottom surfaces are characterized by multi-scale defects: shape defects influenced by the tool path and the manufacturing strategy, macro-craters at waviness scale due to the jet i...
Over the past decades, Vascular Interventional Surgery Robots (VISR) have been developed to addre... more Over the past decades, Vascular Interventional Surgery Robots (VISR) have been developed to address the risks associated with X-rays used in minimally invasive vascular surgery procedures. Manipulation of over-the-wire catheters is necessary to perform complex surgery but requires high forces on the robot's end effector during rotational movements. The VISR under study mimics the physician's fingers by rolling the catheter between two planar surfaces to rotate it. In this study, an experimental set-up is used to replicate this grasping method, also used in other VISR [1, 2]. The parameters of the gripping surfaces are investigated to maximise the torque delivered to the catheter and minimise the forces required at the robot's end-effector. The implemented design of experiment (DOE) demonstrated that large and soft gripping surfaces could achieve this compromise. By adjusting these parameters, sufficient torque can be achieved on the catheter.
Dispositif implantable dans l'os temporal de dispense d'au moins un composant d'un pr... more Dispositif implantable dans l'os temporal de dispense d'au moins un composant d'un produit liquide, comprenant un catheter (20) et des moyens de deplacement du composant le long du catheter, caracterise en ce que le produit incorpore des particules de transport du composant, les particules etant deplacables sous l'effet d'un champ magnetique, en ce que le catheter comporte des portions de sortie (21) du composant hors du catheter, les portions de sorties etant reparties le long du catheter et en ce que les moyens de deplacement comprennent des moyens (11, 31) pour engendrer un champ magnetique au voisinage de chaque portion de sortie (21)pour amener le produit de portion de sortie en portion de sortie, les moyens pour engendrer un champ comprenant des bobines (31) entourant les portions de sorties (21) et reliees a un module de commande (11) agence pour successivement alimenter au moins une partie des bobines. Prothese auditive tel qu'un implant cochleaire co...
Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduct... more Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Introduction. In order to achieve a minimal trauma to the inner ear structures during array insertion, it would be suitable to control insertion forces. The aim of this work was to compare the insertion forces of an array insertion into anatomical specimens with three different insertion techniques: with forceps, with a commercial tool, and with a motorized tool. Materials and Methods. Temporal bones have been mounted on a 6-axis force sensor to record insertion forces. Each temporal bone has been inserted, with a lateral wall electrode array, in random order, with each of the 3 techniques. Results. Forceps manual and commercial tool
La chirurgie de l’oreille soufre d’un manque ressenti en termes d’assistance robotisee. En effet,... more La chirurgie de l’oreille soufre d’un manque ressenti en termes d’assistance robotisee. En effet, l’etroitesse des voies, les dimensions submillimetriques des organes manipules et les risques encourus lors de ces operations entrainent un reel besoin. De plus, il n’existe a ce jour, aucun systeme, ne serait-ce qu’a l’etat de prototype, ayant une precision et une compacite suffisantes pour repondre a ce besoin. L’objectif de ce travail est donc de concevoir un robot specifique d’aide a la microchirurgie de l’oreille moyenne. L’application de reference choisie ici est le remplacement de l’etrier par une prothese. La methode de conception proposee est generale et peut ainsi s’appliquer a d’autres domaines de la microchirurgie. Ce travail s’acheve par la realisation d’un prototype fonctionnel dont la motorisation garantit une resolution de mouvement compatible avec les exigences du cahier des charges. Le schema de commande mis en œuvre est de type maitre-esclave. Des essais sur mannequin puis sur rochers humains valident les choix structurels et dimensionnels et ouvrent des perspectives d’amelioration.
Glass workpieces are mainly planar and obtained by diamond cutting however if free-form surfaces ... more Glass workpieces are mainly planar and obtained by diamond cutting however if free-form surfaces are required, manufacturing process is usually based on shaping grinding wheels. Multi-axis waterjet cutting, an other means of obtaining planar workpieces, could also be used to machine complex shapes with appropriate manufacturing strategies. Water jet pocketing could also be achieved but it brings challenging issues since the high pressure jet composed of water and abrasive particles must be contained inside the machined pocket. Water jet glass machining optimization requires understanding of numerous parameters such as interaction between the jet and the brittle material behavior or the identification of the jet himself. We focus our investigation on bottom pocket surfaces to study these parameters. Pocket bottom surfaces are characterized by multi-scale defects: shape defects influenced by the tool path and the manufacturing strategy, macro-craters at waviness scale due to the jet i...
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