[robotics-worldwide] PhD position in medical robotics at LSIIT laboratory, Strasbourg, France
nageotte at unistra.fr
Wed Jun 27 12:56:56 PDT 2012
The LSIIT laboratory in Strasbourg, France, offers a PhD position in
the AVR research group (Automatic control, Vision and Robotics) for a
thesis project proposition named :
"Developpment of measure solutions for medical flexible endoscopy"
*Context : robotized assistance to flexible endoscopy
This PhD position concerns the field of robotic assistance to medical
interventions. We aim
at assisting procedures involving flexible systems such as flexible
endoscopes. Flexible systems are largely used in the medical field
because they have the capability to reach distant areas of interest
through tortuous and restricted natural channels (oesophagus, colon,
urethra, veins, etc.). Nowadays these systems are used for complex tasks
such as complete surgical
operations. For these new uses the required positioning accuracy is
important and in this context motorization and robotization appear as
interesting solutions for manipulation problems. For instance
robotization allows teleoperation modes or autonomous assistance.
However, in practice the automatic control of these flexible systems is
difficult. Because of the transmission of motion through long flexible
shafts, often under constraints, non-linear behaviors are observed,
which are dependent on multiple parameters. It is then difficult to
obtain good models and consequently open-loop model-based control is not
satisfying. For obtaining a good positioning accuracy in the operational
space the use of an additional sensing system seems mandatory. Up today
most of works in this direction use electromagnetic sensors. They allow
to quickly assess control schemes in the laboratory, but they are not
directly usable in vivo.
*Objectives : use of embedded camera for accurate positioning
In this PhD thesis work we aim at exploring the possibilities offered by
embedded vision for controlling robotized flexible systems and their
instruments. Three kinds of problems can be
* Positioning of the flexible system holding the camera with respect
to the environment,
* Positioning simple instruments (without DOF) passing through a
channel of the flexible system with respect to this system and with
respect to the environment,
* Positioning flexible instruments (with DOFs) with respect to the
flexible system and the environment.
The requirements will be mainly focused on accuracy but we will also be
interested by the bandwidth, which is interesting for tracking
physiological motion. Besides the endoscopic images, data from motors
encoders and flexible systems models will be used.
These approaches will first be assessed in the laboratory using the
flexible robotic systems of LSIIT and ISIR, for application to
teleoperation and automatic motion. The solutions will also be
compared to the use of additional sensors usually proposed in the
literature but not applicable in vivo, such as accelerometers or
magnetic sensors, in order to show feasibility and / or limitations of
the use of images.
The final objective is to assist the medical staff during operations
using flexible systems. Two main applications are planned: intraluminal
surgery for electrosurgical cutting and ureteroscopy for laser lithiasis
*Research Environment : LSIIT / ISIR collaboration inside the CAMI
The PhD student will mainly work in the AVR group in Strasbourg, France
(newlsiit.u-strasbg.fr/avr_fr/index.php/Accueil). He will be located on
the medical robotic platform at the IRCAD in downtown Strasbourg. IRCAD
(www.ircad.fr) is a world-renowned
institute of research on digestive cancers.
The work will be realized in collaboration with the AGATHE team at ISIR
(Paris) inside the "Excellence Laboratory" CAMI (Computer Assisted
Medical Intervention) a french multi-platforms laboratory dedicated to
computer-assisted interventions (www.cami-labex.fr/).
The AVR group has developed several robotic prototypes for intraluminal
surgery. The ISIR team has also developed a motorized urological
flexible system. The PhD student will have access to these systems at
the beginning of the thesis.
The thesis project is also partly integrated in the scope of Strasbourg
IHU (Institut Hospitalo- Universitaire) MixSurg. The PhD student will be
able to perform in vivo validations at the IRCAD.
*Expected candidate profile
The candidate must have a master degree or should have graduated from an
engineering school with major in computer vision, robotics or image
Good knowledge in computer programming (C / C++, linux) and knowledge
of computer vision hardware (video cameras, framegrabbers) are
mandatory. Liking of medical field and practical experiments is welcome.
Starting date is planned in september 2012.
The position will be funded by the CAMI laboratory. Wages will be
standard for PhD positions in France. Opportunities will be given to
teach at the Strasbourg University.
For application, send a CV and cover letter to : Florent Nageotte,
Associate Professor, Nageotte at unistra.fr
or phone to +33 3 88 11 91 29 for additional information.
Maître de Conférences
Université de Strasbourg
UFR Physique et Ingénierie
LSIIT UMR 7005 CNRS - UDS
tél : 03 88 11 91 29
email : Nageotte at unistra.fr
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