[robotics-worldwide] [Jobs] PhD Position on Medical Robotics and Computer Vision [ INRIA (Lagadic) and FEMTO-ST Institute (MiNaRob), France]
brahim.tamadazte at femto-st.fr
Tue May 20 00:18:38 PDT 2014
Dear Robotics Worldwide,
We are looking for PhD candidates for an open PhD position jointly
proposed by "INRIA/Lagadic team" and "FEMTO-ST Institute/MiNaRob team".
Title of the proposed PhD: "Soft tissue deformation tracking using
optical coherence tomography (OCT) and ultrasound imaging"
Keywords: Medical robotics, ultrasound imaging, optical coherence tomography
Laboratories:INRIA Rennes - Bretagne Atlantique andFEMTO-ST Institute
Research teams: Lagadic at INRIA Rennes - Bretagne Atlantique (Rennes,
MiNaRob at FEMTO-ST Institute (Besançon, France)
Supervisor: AlexandreKrupa (alexandre.krupa at inria.fr
<mailto:alexandre.krupa at inria.fr>)
Co-Supervisor: Brahim Tamadazte (brahim.tamadazte at femto-st.fr
<mailto:brahim.tamadazte at femto-st.fr>)
Locations: 18 months at INRIA (Rennes, France) and 18 months in FEMTO-ST
This thesis is in the field of medical robotics and focuses on the
development of solutions for tracking the deformations of organs using
medical imaging devices based on scanning imaging technologies
(ultrasound and OCT). The interest is to allow future implementation of
robotic applications for assistance during minimally invasive surgical
procedures, such as needle insertion for biopsies, localized treatment
of tumors  or in the context of minimally or non-invasive surgical
microrobotics. To this end, taking into account tissue deformations due
to the patient's physiological movement and physical interaction of
surgical instruments with the targeted anatomical element is a crucial
step to ensure a safe and effective robotic assistance .
Ultrasound imaging and OCT can provide 3D images in real-time in
opposite to Magnetic Resonance Imaging (MRI) and are not invasive for
the patient in contrast to X-ray imaging. Therefore these imaging
modalities are well appropriated to allow biopsies and surgical
procedures in interventional radiology .
3D ultrasound and OCT work on a very similar principle that consists in
sending an ultrasonic or optical infrared (for OCT) wave along a scan
line and measuring the signal that is reflected by the interfaces of
tissue traversed by the wave. The 3D image is then reconstructed by
automaticallysweeping the wave along successive scanning lines on the
area of interest.
However the scanning is performed sequentially thanks to an
electronic/mechanical sweeping which produces artifacts in the
reconstructed image in case the observed anatomical structure moves and
deforms due to the physiological motion of the patient.
This thesis will focus on the development of an approach able to
compensate these artifacts by controlling the sweeping in a clever
manner that will allow a more accurate tracking of the organ
deformations . The idea is to control the direction of each scanning
line in order it intersects on specific points in soft tissue and to use
the wave response time to directly estimate the motion speed of the
anatomical structure. To this end, we plan to use a preoperative digital
model of the targeted organ acquired by MRI or CT. The deformation of
the model will be online adapted during the intraoperative imaging
performed with ultrasound or OCT thanks to observations obtained during
the monitored sweeping of the wave.
The main contribution of this thesis would be a novel approach that
automatically performs an intraoperative registration of a deformable
model with an observed soft tissue structure while compensating the
artifacts induced by the scanning imaging technology.
Knowledge in computer vision and applied mathematics are required, as
well as good programming skills in C++.
 P. Chatelain, A. Krupa, M. Marchal. Real-time needle detection and
tracking using a visually servoed 3D ultrasound probe. In IEEE Int.
Conf. on Robotics and Automation, ICRA'13, Karlsruhe, Germany, May 2013.
 Rogério Richa, Philippe Poignet, Chao Liu: Three-dimensional Motion
Tracking for Beating Heart Surgery Using a Thin-plate Spline Deformable
Model. IJRR (2010), v. 29, 218-230.
 Wu, Yicong et al. Robust High-Resolution Fine OCT Needle for
Side-Viewing Interstitial Tissue Imaging. IEEE Journal of Selected
Topics in Quantum Electronics (2010), v. 16, 863-869.
 R. Dahmouche, N. Andreff, Y. Mezouar, O. Ait-Aider, P. Martinet.
Visual servoing from sequential regions of interest acquisition. IJRR
(2012), v. 31, 520-537.
Send your CV, letter of motivation, letters of recommendation, rank and
marks in your Master degrees (M.Sc.) to alexandre.krupa at inria.fr
<mailto:alexandre.krupa at inria.fr>and brahim.tamadazte at femto-st.fr
<mailto:brahim.tamadazte at femto-st.fr>
Application deadline: June 25th, 2014
Ranking of the applications: July 5th, 2014, after interviews of the
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