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Papers by Fabien Courreges

HAL (Le Centre pour la Communication Scientifique Directe), 2021

HAL (Le Centre pour la Communication Scientifique Directe), Nov 2, 2022

2022 Eleventh International Conference on Image Processing Theory, Tools and Applications (IPTA)

HAL (Le Centre pour la Communication Scientifique Directe), Jun 21, 2015

International audienc

Abstract. The quality of ultrasound based diagnosis highly depends on the operator’s skills. Some... more Abstract. The quality of ultrasound based diagnosis highly depends on the operator’s skills. Some healthcare centres may not have the required medical experts on hand when needed and therefore may not benefit from highly specialized ultrasound examinations. The aim of this project is to provide a reliable solution in order to perform expert ultrasound examinations in distant geographical areas and for the largest population possible. TER is a tele-robotic system designed and developed by a French consortium composed of universities, hospitals and industrial companies. One originality of TER is the development of a compliant slave robot actuated by muscles. This slave robot is tele-operated by an expert clinician who remotely performs the exam. In this paper, we present the architecture of TER and describe its components.

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016

The majority of recent researches have been focused on developing compliant joint for rotary moti... more The majority of recent researches have been focused on developing compliant joint for rotary motion. Few authors contributed to the problematic of safety in pure linear motion, i.e. prismatic joint. The contribution of this work is to present a new design capable of achieving, passively, a nonlinear elastic behavior for prismatic joint implementation, the so-called Prismatic Compliant Joint (PCJ). This new device is based on a six-bar mechanism equipped with a linear spring. Hence, this structure generates the desired nonlinear stiffness behavior under a specified external force. The elastic characteristic will comply with force safety criteria of physical Human/Robot interaction (pHRI); a Hunt-Crossley model based one. In order to fit the PCJ response curve to the established safety measures, an optimization based on genetic algorithm method tunes PCJ intrinsic parameters subject to the chosen constraints.

IOP Conference Series: Materials Science and Engineering, 2018

International Journal of Pavement Engineering, 2018

Applied Mathematical Modelling, 2019

Journal of Materials Processing Technology, 2017

Http Www Theses Fr, 2003

L'acte medical realisable a distance est un enjeu important qui s'inscrit dans le context... more L'acte medical realisable a distance est un enjeu important qui s'inscrit dans le contexte de l'accroissement des reseaux et technologies de telemedecine. Nous exposons ici le travail effectue sur deux chaines robotisees de teleoperation, Teresa et Otelo I, pour l'echographie de patients distants. Ces systemes de tele-echographie sont constitues de trois composantes principales sur lesquelles a porte ce travail de these. - Un site ± expert α : ou nous avons developpe pour l’expert medical des interfaces mecaniques et graphiques ergonomiques pour le controle du robot distant. Le medecin dispose d'une sonde fictive peudo-haptique dediee et instrumentee pour piloter le robot. - Le media de communication : pour s'adapter facilement aux differents supports de communication disponibles (ISDN, ADSL, LAN, Satellite, etc. ), un code logiciel permettant une communication sur protocoles IP a ete developpe. - Un site ± patient α : ou se situe le robot et son dispositif de controle. Nous avons realise le controle du robot et propose en particulier une gestion originale des singularites et la prise en compte de la gigue du retard de communication pour la generation des trajectoires articulaires.

Numerical Algorithms, 2014

2015 IEEE 13th International Conference on Industrial Informatics (INDIN), 2015

The aim of this work is to improve the safety and control robustness of robots interacting physic... more The aim of this work is to improve the safety and control robustness of robots interacting physically with humans by enhancing their contact perception. More specifically in the abdominal area, respiratory motions are clearly influencing the contact dynamics but have not yet been accounted for in the estimation of the contact impedance. We propose here a combined mechanical-respiratory model of impedance along with its on-line identification. Numerical and practical experiments with living subjects validate the identification process and show the relevance in accuracy of accounting for the respiratory beats.

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.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

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.