[robotics-worldwide] [Jobs] PhD Position on Medical Robotics and Computer Vision [ INRIA (Lagadic) and FEMTO-ST Institute (MiNaRob), France]

Brahim TAMADAZTE 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 
(Besançon, France)


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 [1] 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 [2].


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 [3].

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.

Research work:

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 [4]. 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.

Expected results:

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++.


[1] 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.

[2] 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.

[3] 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.

[4] 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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