Current Work in Medical Robotics
Eve Coste-Maniere can be contacted here : firstname.lastname@example.org
I am a research scientist at INRIA Sophia Antipolis where I lead the Chir
Medical Robotics team (Chirurgie, Informatique & Robotique).
The central objective of my work is the integration of robotic techniques and
image processing in surgery to make the planning and execution of surgical
interventions more accurate and less invasive. The optimization of the
performances of surgical procedures is based on safe and real-time software
integration for medical robots.
The following main underlying steps of robotic surgery integration are
identified and investigated:
the modelling and visualisation of deformable anatomical
entities: here geometric approaches to computer vision are combined to
medical image analysis and processing, to computational geometry. The objective
is to provide a patient dependant dynamic model.
- the planning and simulation of robotic interventions using the above
mentioned models. With the patient's pre-operative model, we formulate the
needs of the surgeon and the characteristics of the robot as mathematical
criteria, in order to optimize the settings of the intervention. Then we
automatically reproduce expected surgeons' movements and guaranty their
feasibility. We also simulate the intervention in real-time, paying particular
attention to potential collisions between the robotic arms. in
vivo trials are currently conducted.
- the secure real time execution of robotic procedures with
augmented reality. This steps introduces medical imaging and
modeling in the operating theatre. Results of the two previous
phases are used to augment the reality perceived by the surgeon to
guide his gesture.
As studied during my PhD work, the core
challenge is here to develop a safe control architecture,
with a set of tools for implementation and analysis to ease the
integration of all the building blocks required in a surgical
robotics application with predictable performance. It relies on
the definition of a formal theoretical framework and associated
tools that allow the specification, the validation, and the
implementation of generic robot and vision control schemes (as
investigated in the ORCCAD
In this context, the definition of a generic and efficient mission
programming method, the Maestro
language (cf Nicolas Turro's work), for robotic systems has been
proposed. It is based on the use of formal methods (e.g Esterel
Synchronous Programming Language (Meije
research group)) to fully benefit from their mathematical foundations,
gateway to formal
Today, a coronary bypass procedure has been chosen as a test bed
for this integration. This work is performed in close cooperation
with two cardiac surgery teams lead by Alain Carpentier (Hôpital
Européen Georges Pompidou, France) and Friedrich Mohr and Volkmar
Falk (Herzzentrum Leipzig, Germany). The tele-operated robot da
Vinci has been chosen from outset.
Industrial collaborations include Intuitive Surgical, Inc (USA),
and General Electrics. Our main international collaborations
includes the National Institute of Health with the Johns Hopkins
University, and Stanford University. Also, the team participates in
projects funded by the French ministry of research "télémédecine",
the National Network in Communication Research (RNRT) for the VTHD
program, and the National Network of Technology and Health (RNTS)
through the EndoXiRob project.