P. Vieyres | University of Orleans, France (original) (raw)

Papers by P. Vieyres

abstract: This work presents a new technique of image reconstruction by backscattering ultrasound... more abstract: This work presents a new technique of image reconstruction by backscattering ultrasound tomography using radial images. It is based on the fact that a B mode echographic image, although incomplete or noisy, always contains more information than an image obtained by a projection technique. The new technique is to reconstruct a slice from radial echographic images of this same slice using classic echographic probes. The new method of "Moyennes Maximisees" {maximized-aver ages) combines the advantages of the method of "Maxima " and the method of "Moyenne " (average). This method was tested and applied in-vitro for the reconstruction of a slice of a fetus thigh. It offers a better image quality that increases with the number of radial images N, and enables to distinguish between various anatomical parts of the slice.

IRBM, 2018

Highlights • A generalized Framework for RA-MIS using serial redundant robots is proposed. • A st... more Highlights • A generalized Framework for RA-MIS using serial redundant robots is proposed. • A strict priority torque-controller allows to simultaneously execute the tasks. • Performance of the surgical task is preserved during contact with the robot's body.

Robotics and Autonomous Systems, 2018

h i g h l i g h t s • A collaborative Framework for robot-assisted MIS is proposed. • A new null-... more h i g h l i g h t s • A collaborative Framework for robot-assisted MIS is proposed. • A new null-space compliance strategy is designed, based on the swivel coordinates. • Performance of the surgical task is preserved during contact with the robot's body.

This paper presents the kinematics structure of an ultrasound probe holder innovative robot. It i... more This paper presents the kinematics structure of an ultrasound probe holder innovative robot. It is a six degree-of-freedom dedicated structure remotely controlled by a medical expert to perform a tele-echography examination. It has been designed with respect to users requirements fixed by medical experts from various clinical fields. It is used to position the probe on the patient's skin, for every needed posture. Kinematics and dynamic models of the robot have been established, singularity problem has been studied, geometric parameters optimization has been investigated. This robot has been designed in the frame of the European project "Otelo".

2011 IEEE International Conference on Robotics and Automation, 2011

This paper presents a new navigation method for mobile robots, based on direct kinematics model a... more This paper presents a new navigation method for mobile robots, based on direct kinematics model and predictive control approach. It is adaptable to all types of robots taking into account their specific constraints. The research of the optimal trajectory is shifted in the continuous parameters space, which enables the exploitation of all of the robot's capabilities. The use of a stochastic algorithm enables the determination of obstacle bypass trajectories, and simulation results show that the navigation in cluttered environment is improved.

1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399), 1999

... scan probe. The clinical expert is then able to interpret the transmitted images and move the... more ... scan probe. The clinical expert is then able to interpret the transmitted images and move the slave arm in order to obtain the best orientation of the ultrasound beam on any anatomical part of the remotely located patient. This ...

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

This article addresses the omni directional mechanical architectures problematic for mobile robot... more This article addresses the omni directional mechanical architectures problematic for mobile robots using 3 motorized axles with 2 spherical orthogonal wheels. These wheels transmit a power torque according to a direction and are completely free with respect to the two others. They are used on 2 mechanical structures: SM1 and SM2. The complete kinematic study emphasizes the facility of controlling

Robotica, 2012

SUMMARYThis paper deals with processes of optimisation for the design of a four degree-of-freedom... more SUMMARYThis paper deals with processes of optimisation for the design of a four degree-of-freedom robot dedicated to remote ultrasound tele-echography. This robot is designed to track the medical gestures of a remote expert moving an ultrasound probe. The goal is to optimise the kinematic structure by fixing the geometric parameters; these have a significant role in robot configuration singularities, with respect to current medical gestures and mechanism compactness. After choosing a dedicated kinematic structure, several optimisations are presented. Then an optimal choice of geometrical parameters of a global function in relation with kinematic performance indices and compactness is proposed. This robot is soon to be used in the experimental medical phase of the Prosit project.

Journal de Radiologie, 2006

Objectifs Valider (a) le post-traitement d’une capture echographique 3D realisee par un operateur... more Objectifs Valider (a) le post-traitement d’une capture echographique 3D realisee par un operateur non echographiste, et (b) l’utilisation d’une sonde echographique teleguidee, depuis un centre «Expert» (CHU), pour realiser un diagnostic echographique sur un patient localise dans un autre centre « site patient ». Materiels et methodes Les 2 centres sont relies par visioconference, il y a un echographe au site patient, mais pas d’echographiste present au moment de l’examen, ou bien l’echographiste a besoin d’un 2 e avis (Hopital secondaire, 40 km du CHU, pas de radiologue de 18h30 a 8h). (a) Le centre patient est equipe d’un echographe 3D. Un operateur non echographiste positionne la sonde 3D a l’endroit indique par l’expert. La capture d’image 3D est envoyee par e-mail pour traitement, (b) Le centre patient n’a qu’un echographe 2D mais est equipe d’un bras robotise auquel est fixee la sonde d’echographie, et maintenu sur le corps du patient par un operateur non echographiste. Ce bras est telecommande, depuis le centre Expert (Robot Teresa). Resultats Cent patients ont ete investigues par « Tele-echo 3D » a distance et 300 par Tele-echographie robotisee. Pas de diagnostic dans 10-15 % des cas, mais aucun faux diagnostic. L’examen etait 1,5 a 2 fois plus long. Conclusion L’echographie a distance (echo 3D ou bras robotise) donne le meme diagnostic que l’examen direct.

Journal Européen des Systèmes Automatisés, 2009

This paper presents a 4 DOF, non-redundant tele-operated robotic system, compact and portable wit... more This paper presents a 4 DOF, non-redundant tele-operated robotic system, compact and portable with a remote centre of motion. This body mounted system provides medical experts the ability to remotely carry out, in real time, an ultrasound examination on a distant patient. The robot can rotate a standard ultrasound probe in almost any orientation, with a maximum inclination of 45° with respect to the ascendant normal of the patient's skin. A trade off was made between on the one hand, the compactness, ergonomy and security, and on the other hand the kinematics performance of the robot. This compromise led to a solution including two singularity branches. As we could access a closed-form kinematics model of the robot with well-conditioned equations, efficient control laws were implemented and also were able to manage these singularities. The concept of robotised tele-echography was clinically validated by, in more than 80 % of the cases, a good pre-diagnosis comparable to the one obtained in classical examinations.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

This paper presents a tele-operated robot built within the OTELO European project framework. This... more This paper presents a tele-operated robot built within the OTELO European project framework. This six degree-of-freedom non-redundant probe-holder robot with a remote center of motion is dedicated to robotized medical tele-echography. The mechanical structure, chosen by end-users' specifications, presents a self-motion singularity within the working space of the medical expert. A strategy has been developed to counter the effect of

2008 IEEE International Conference on Robotics and Biomimetics, 2009

This paper proposes a new ergonomic frame to describe the attitude of an input device used for hu... more This paper proposes a new ergonomic frame to describe the attitude of an input device used for human-machine interface in tele-echography application. The data acquired from medical experts through polling and recording medical trajectories enabled us to design this new system of angles exhibiting a good decorrelation among its degrees of freedom. A decorrelation improvement of up to 83% can be noticed compare to the standard 3-1-3 Euler angles. This new frame can be exploited for low cost man-machine interface design.

Journal of gravitational physiology : a journal of the International Society for Gravitational Physiology, 2007

to design and validate a method for tele-operating (from an expert site) an echographic examinati... more to design and validate a method for tele-operating (from an expert site) an echographic examination in an isolated site where the patient stays. A dedicated robotic arm (ESTELE) holding a real ultrasound probe is remotely controlled from the expert site with a fictive probe, and reproduces on the real probe all the movements of the expert hand. The isolated places, are areas with reduced medical facilities, (secondary hospitals 20 to 100 km from the main hospital in Europ, dispensaries in Africa, Amazonia, the a rescue vehicles.... ESTELE was tested on 87 adults and 29 pregnant with ISDN or satellite lines. During fetal tele-operated echography the expert was able to perform appropriate views of the fetal structures in 95% of the cases. During exploration of adult abdomen the expert visualized the main organs in 87% of the cases. Presently the ESTELE system is installed in 4 secondary hospitals, 40 to 100 km from our University Hospital and tele-operated daily by our staff. Robotize...

Journal of gravitational physiology : a journal of the International Society for Gravitational Physiology, 2004

The objective was to design and validate a method for tele-operating (from an expert site) an ech... more The objective was to design and validate a method for tele-operating (from an expert site) an echographic examination in an isolated site. The isolated places, defined as areas with reduced medical facilities, could be secondary hospitals 20 to 50 km from the university hospital, or dispensaries in Africa or Amazonia, or a moving structure like a rescue vehicle or the International Space Station (ISS). At the expert center, the ultrasound medical expert moves a fictive probe, connected to a computer (n degrees 1) which sends, the coordinate changes of this probe via an ISDN or satellite line to a second computer (n degrees 2), located at the isolated site, which applies them to the robotic arm holding the real echographic probe. The system was tested at Tours Hospital on 105 patients. A complete investigation (visualization) of all the organs requested for different clinical cases was obtained in 76% of the cases with the robot, and 87% at the reference echography: In 11% of the cas...

Journal of gravitational physiology : a journal of the International Society for Gravitational Physiology, 2001

As human will stay for long duration in isolated sites like ISS there will be a need to perform q... more As human will stay for long duration in isolated sites like ISS there will be a need to perform quick and reliable diagnosis to evaluate the gravity of the pathology in presence of clinical symptoms. Many pathological situations (abnormal heart rate, pericardic collection, mitral prolaps, cholecystis, renal lithiasis, normal and ectopic pregnancies, ovarian cyst, acute appendicitis, phlebitis ... ) may occur even if all the astronauts are absolutely normal and healthy preflight. Ultrasound echography and Doppler are non invasive methods easy to use in space and very well adapted and used in routine for such diagnosis at the hospital. The objective of the present project was to design a method that guarantee a reliable echographic diagnostic in an isolated site (space station or earth site) by a Medical Doctor located at the expert site that should be the Nasa control center for ISS. It is supposed that there is only a non sonographer person in the isolated site and that the transmis...

Lecture Notes in Computer Science, 2001

Ultrasound in Obstetrics & Gynecology, 2004

Oral communication abstracts Methods: Sixty women who underwent IVF cycle participated this prosp... more Oral communication abstracts Methods: Sixty women who underwent IVF cycle participated this prospective study. The ovarian vascularization was measured after pituitary downregulation, after FSH-stimulation and after hCGinjection using three-dimensional power Doppler ultrasonography. The total vascularized volume in the ovaries was divided by the number of follicles. Results: Vascularized volume in ml/follicle Normal ovaries Vascularized volume in ml/follicle PCO P-value Volume after GnRH/no of antral follicles 0.06 (0.08) 0.02 (0.01) 0.003 Volume after GnRH/no of follicles after FSH 0.07 (0.11) 0.03 (0.02) 0.025 Volume after FSH/no of follicles after FSH 0.18 (0.11) 0.24 (0.10) ns Volume after hCG/no of follicles after FSH 0.39 (0.22) 0.35 (0.16) ns After pituitary suppression, the ovarian vascularization/follicle was lower in PCO-patients. The follicles in polycystic ovaries required much less FSH stimulation to acquire the same level of vascularization than the follicles in normal ovaries. Also hCG induced an increase in the follicular vascularization in both normal and polycystic ovaries. The follicle count correlated with the total vascularized volume in the ovaries throughout the IVF-cycle. Conclusions: Follicles in polycystic ovaries seem to be less vascularized than the follicles in normal ovaries after GnRHtreatment. It is possible that restricted blood supply to the follicles in PCO might be associated with the follicular arrest observed with PCO. We could confirm that follicles in PCO are more sensitive to gonadotrophin stimulation than follicles in normal ovaries.

IEEE Transactions on Medical Imaging, 2006

This paper presents a new tool for the evaluation of ultrasound image compression. The goal is to... more This paper presents a new tool for the evaluation of ultrasound image compression. The goal is to measure the image quality as easily as with a statistical criterion, and with the same reliability as the one provided by the medical assessment. An initial experiment is proposed to medical experts and represents our reference value for the comparison of evaluation criteria. Twenty-one statistical criteria are selected from the literature. A cumulative absolute similarity measure is defined as a distance between the criterion to evaluate and the reference value. A first fusion method based on a linear combination of criteria is proposed to improve the results obtained by each of them separately. The second proposed approach combines different statistical criteria and uses the medical assessment in a training phase with a support vector machine. Some experimental results are given and show the benefit of fusion.

IEEE Transactions on Information Technology in Biomedicine, 2005

This paper presents a new tele-operated robotic chain for real-time ultrasound image acquisition ... more This paper presents a new tele-operated robotic chain for real-time ultrasound image acquisition and medical diagnosis. This system has been developed in the frame of the Mobile Tele-Echography Using an Ultralight Robot European Project. A light-weight six degrees-of-freedom serial robot, with a remote center of motion, has been specially designed for this application. It holds and moves a real probe on a distant patient according to the expert gesture and permits an image acquisition using a standard ultrasound device. The combination of mechanical structure choice for the robot and dedicated control law, particularly nearby the singular configuration allows a good path following and a robotized gesture accuracy. The choice of compression techniques for image transmission enables a compromise between flow and quality. These combined approaches, for robotics and image processing, enable the medical specialist to better control the remote ultrasound probe holder system and to receive stable and good quality ultrasound images to make a diagnosis via any type of communication link from terrestrial to satellite. Clinical tests have been performed since April 2003. They used both satellite or Integrated Services Digital Network lines with a theoretical bandwidth of 384 Kb/s. They showed the tele-echography system helped to identify 66% of lesions and 83% of symptomatic pathologies.

Le Journal de Physique IV, 1994

This work presents a new technique of image reconstruction by backscattering ultrasound tomograph... more This work presents a new technique of image reconstruction by backscattering ultrasound tomography using radial images. It is based on the fact that a B mode echographic image, although incomplete or noisy, always contains more information than an image obtained by a projection technique. The new technique is to reconstruct a slice from radial echographic images of this same slice using classic echographic probes. The new method of "Moyennes Maximisees" {maximized-aver ages) combines the advantages of the method of "Maxima" and the method of "Moyenne" (average). This method was tested and applied in-vitro for the reconstruction of a slice of a fetus thigh. It offers a better image quality that increases with the number of radial images N, and enables to distinguish between various anatomical parts of the slice.