The event will take place on Friday, June 24th 2022 at 10:00 am, Amphitheater A301, Pôle API, Illkirch campus.
Abstract
Interventional radiology is indicated for liver tumors of less than 3 cm in size. It uses needles to reach the cancerous tissue inside of the organ. The technicity of this type of procedure is high as its effectiveness depends on targeting accuracy, while the needle-tissue interaction induces non-trivial deformations, and the radiologist cannot see what he is doing directly. This thesis proposes a tool offering robotic assistance to percutaneous procedures that is centered around the practitioner to reduce the technical level required. An automatic insertion algorithm compensating for external disturbances along with needle-tissue interactions using a real-time inverse finite element simulation is first proposed. The sharing of the control associating the practitioner's decisions with the automatic control is then discussed. These two contributions are evaluated in simulated experiments in a first step and in a liver phantom in a second step. For this, an experimental setup is built and evaluated.
Jury members
- Prof. Maud MARCHAL, Université de Rennes - Reviewer
- Prof. Alexandre KRUSZEWSKI, Université de Lille - Reviewer
- Dr Stéphane COTIN, INRIA Strasbourg - Examiner
- Dr Nabil ZEMITI, Université de Montpellier - Examiner
- Dr Hadrien COURTECUISSE, Université de Strasbourg - Examiner
- Prof. Bernard BAYLE, Université de Strasbourg - PhD supervisor