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Papers by Jocelyne Troccaz
International Journal of Computer Assisted Radiology and Surgery
Purpose: We present a hybrid 2D-3D ultrasound (US) rigid registration method for navigated prosta... more Purpose: We present a hybrid 2D-3D ultrasound (US) rigid registration method for navigated prostate biopsy that enables continuous localization of the biopsy trajectory during the exam.
Annals of Biomedical Engineering
Robotic control of needle bending aims at increasing the precision of percutaneous procedures. Ul... more Robotic control of needle bending aims at increasing the precision of percutaneous procedures. Ultrasound feedback is preferable for its clinical ease of use, cost and compactness but raises needle detection issues. In this paper, we propose a complete system dedicated to robotized guidance of a flexible needle under 3D ultrasound imaging. This system includes a medical robot dedicated to transperineal needle positioning and insertion, a rapid path planning for needle steering using bevel-tip needle natural curvature in tissue, and an ultrasound-based automatic needle detection algorithm. Since ultrasound-based automatic needle steering is often made difficult by the needle localization in biological tissue, we quantify the benefit of using flexible echogenic needles for robotized guidance under 3D ultrasound. The ``echogenic'' term refers to the etching of microstructures on the needle shaft. We prove that these structures improve needle visibility and detection robustness in ultrasound images. We finally present promising results when reaching targets using needle steering. The experiments were conducted with various needles in different media (synthetic phantoms and ex-vivo biological tissue). For instance, with nitinol needles the mean accuracy is 1.2mm (respectively 3.8mm) in phantoms (resp. biological tissue).
Journal of Robotics and Mechatronics
In medical robotics applications it is often advantageous for a robot to be directly mounted on o... more In medical robotics applications it is often advantageous for a robot to be directly mounted on or supported by the body of the patient during a medical procedure or examination. Whereas early medical robot systems were generally manipulator arms with a large base resting on the floor or mounted to the table next to the patient, several more recently developed systems rest directly on the patient. Body-supported medical robots can be designed to be much more compact and lightweight, leading to improved accuracy and safety and reduced cost, and are easier to set up and use in the operating room environment compared to conventional robot manipulator arms. Five examples of body-supported surgical robots are surveyed in this paper: The ARTHROBOT for total hip arthroplasty, PRAXITELES for knee arthroplasty, MARS for spinal pedicle screw placement and drill guiding, TER for remote ultrasound examinations, and LER for endoscope positioning in minimally invasive surgery.
American Journal of Hypertension
IEEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications
... They reveal protubing sub-parts that are potentially very convenient for grasping. ... We cou... more ... They reveal protubing sub-parts that are potentially very convenient for grasping. ... We could also modify the system in order to find the best subdivision when several protuberances are available; the best should mean those which would result in a tree with minimum depth. ...
Physics in medicine and biology, Jan 31, 2017
Prostate volume changes due to edema occurrence during transperineal permanent brachytherapy shou... more Prostate volume changes due to edema occurrence during transperineal permanent brachytherapy should be taken under consideration to ensure optimal dose delivery. Available edema models, based on prostate volume observations, face several limitations. Therefore, patient-specific models need to be developed to accurately account for the impact of edema. In this study we present a biomechanical model developed to reproduce edema resolution patterns documented in the literature. Using the biphasic mixture theory and Finite Element analysis, the proposed model takes into consideration the mechanical properties of the pubic area tissues in the evolution of prostate edema. The model's computed deformations are incorporated in a Monte Carlo simulation to investigate their effect on post-operative dosimetry. The comparison of Day1 and Day30 dosimetry results demonstrates the capability of the proposed model for patient-specific dosimetry improvements, considering the edema dynamics. The ...
Cancer/Radiothérapie, 2011
Computing Research Repository, 2010
This paper describes a learning environment for image-guided prostate biopsies in cancer diagnosi... more This paper describes a learning environment for image-guided prostate biopsies in cancer diagnosis; it is based on an ultrasound probe simulator virtually exploring real datasets obtained from patients. The aim is to make the training of young physicians easier and faster with a tool that combines lectures, biopsy simulations and recommended exercises to master this medical gesture. It will particularly
Studies in Health Technology and Informatics, Feb 1, 2001
Computer Assisted Surgery systems are becoming more and more prevalent. Design processes currentl... more Computer Assisted Surgery systems are becoming more and more prevalent. Design processes currently used, pay only a small attention to the surgeon's interaction. To address this lack in design, we propose the OP-a-S notation: OP-a-S modeling of a system adopts an interaction-centered point of view and highlights the links between the real world and the virtual world. Based on an OP-a-S modeling, predictive usability analysis can be performed by considering the ergonomic property. We illustrate our method on the retro-design of a computer assisted surgical application, CASPER.
Studies in Health Technology and Informatics, Feb 1, 2002
Having a haptic virtual environment for tele-echography will enable the medical expert with faste... more Having a haptic virtual environment for tele-echography will enable the medical expert with faster adaptation and especially facilitated immersion in what we could call a "virtual echographic examination cabinet". The innovation of this haptic control is to preserve medical expert proprioception and gesture feelings, which provide the users with indications that are synchronized with the echographic images. In this paper, we will focus on the telegesture module: we will detail several issues and solutions related to this particular problem of tele-robotic scan examination.
Le Courrier Du C N R S, 1993
Proceedings of the First Joint Conference on Computer Vision Virtual Reality and Robotics in Medicine and Medial Robotics and Computer Assisted Surgery, 1997
Until now, Computer Assisted Surgery has focused mostly on surgical procedures for rigid anatomic... more Until now, Computer Assisted Surgery has focused mostly on surgical procedures for rigid anatomical structures. Because soft tissues may be highly mobile and deformable, they may require specific imaging devices, suitable modelling tools and guiding systems. Percutaneous pericardial puncture is a good clinical target: this procedure is often blind and dangerous eventhough echographic control is used. Using computer assistance can
... Hans Reinhardt, MD Emile Reyt, MD Richard Robb, PhD Jean-Marie Rocchisani, MD University of T... more ... Hans Reinhardt, MD Emile Reyt, MD Richard Robb, PhD Jean-Marie Rocchisani, MD University of Tokyo, Japan Hospital for Sick Children, USA Yale University, USA Johns Hopkins University, USA PhD, Grenoble University, France University of North Carolina, USA Nagoya ...
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2015
3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to ... more 3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intraoperative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.
International Journal of Computer Assisted Radiology and Surgery
Purpose: We present a hybrid 2D-3D ultrasound (US) rigid registration method for navigated prosta... more Purpose: We present a hybrid 2D-3D ultrasound (US) rigid registration method for navigated prostate biopsy that enables continuous localization of the biopsy trajectory during the exam.
Annals of Biomedical Engineering
Robotic control of needle bending aims at increasing the precision of percutaneous procedures. Ul... more Robotic control of needle bending aims at increasing the precision of percutaneous procedures. Ultrasound feedback is preferable for its clinical ease of use, cost and compactness but raises needle detection issues. In this paper, we propose a complete system dedicated to robotized guidance of a flexible needle under 3D ultrasound imaging. This system includes a medical robot dedicated to transperineal needle positioning and insertion, a rapid path planning for needle steering using bevel-tip needle natural curvature in tissue, and an ultrasound-based automatic needle detection algorithm. Since ultrasound-based automatic needle steering is often made difficult by the needle localization in biological tissue, we quantify the benefit of using flexible echogenic needles for robotized guidance under 3D ultrasound. The ``echogenic'' term refers to the etching of microstructures on the needle shaft. We prove that these structures improve needle visibility and detection robustness in ultrasound images. We finally present promising results when reaching targets using needle steering. The experiments were conducted with various needles in different media (synthetic phantoms and ex-vivo biological tissue). For instance, with nitinol needles the mean accuracy is 1.2mm (respectively 3.8mm) in phantoms (resp. biological tissue).
Journal of Robotics and Mechatronics
In medical robotics applications it is often advantageous for a robot to be directly mounted on o... more In medical robotics applications it is often advantageous for a robot to be directly mounted on or supported by the body of the patient during a medical procedure or examination. Whereas early medical robot systems were generally manipulator arms with a large base resting on the floor or mounted to the table next to the patient, several more recently developed systems rest directly on the patient. Body-supported medical robots can be designed to be much more compact and lightweight, leading to improved accuracy and safety and reduced cost, and are easier to set up and use in the operating room environment compared to conventional robot manipulator arms. Five examples of body-supported surgical robots are surveyed in this paper: The ARTHROBOT for total hip arthroplasty, PRAXITELES for knee arthroplasty, MARS for spinal pedicle screw placement and drill guiding, TER for remote ultrasound examinations, and LER for endoscope positioning in minimally invasive surgery.
American Journal of Hypertension
IEEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications
... They reveal protubing sub-parts that are potentially very convenient for grasping. ... We cou... more ... They reveal protubing sub-parts that are potentially very convenient for grasping. ... We could also modify the system in order to find the best subdivision when several protuberances are available; the best should mean those which would result in a tree with minimum depth. ...
Physics in medicine and biology, Jan 31, 2017
Prostate volume changes due to edema occurrence during transperineal permanent brachytherapy shou... more Prostate volume changes due to edema occurrence during transperineal permanent brachytherapy should be taken under consideration to ensure optimal dose delivery. Available edema models, based on prostate volume observations, face several limitations. Therefore, patient-specific models need to be developed to accurately account for the impact of edema. In this study we present a biomechanical model developed to reproduce edema resolution patterns documented in the literature. Using the biphasic mixture theory and Finite Element analysis, the proposed model takes into consideration the mechanical properties of the pubic area tissues in the evolution of prostate edema. The model's computed deformations are incorporated in a Monte Carlo simulation to investigate their effect on post-operative dosimetry. The comparison of Day1 and Day30 dosimetry results demonstrates the capability of the proposed model for patient-specific dosimetry improvements, considering the edema dynamics. The ...
Cancer/Radiothérapie, 2011
Computing Research Repository, 2010
This paper describes a learning environment for image-guided prostate biopsies in cancer diagnosi... more This paper describes a learning environment for image-guided prostate biopsies in cancer diagnosis; it is based on an ultrasound probe simulator virtually exploring real datasets obtained from patients. The aim is to make the training of young physicians easier and faster with a tool that combines lectures, biopsy simulations and recommended exercises to master this medical gesture. It will particularly
Studies in Health Technology and Informatics, Feb 1, 2001
Computer Assisted Surgery systems are becoming more and more prevalent. Design processes currentl... more Computer Assisted Surgery systems are becoming more and more prevalent. Design processes currently used, pay only a small attention to the surgeon's interaction. To address this lack in design, we propose the OP-a-S notation: OP-a-S modeling of a system adopts an interaction-centered point of view and highlights the links between the real world and the virtual world. Based on an OP-a-S modeling, predictive usability analysis can be performed by considering the ergonomic property. We illustrate our method on the retro-design of a computer assisted surgical application, CASPER.
Studies in Health Technology and Informatics, Feb 1, 2002
Having a haptic virtual environment for tele-echography will enable the medical expert with faste... more Having a haptic virtual environment for tele-echography will enable the medical expert with faster adaptation and especially facilitated immersion in what we could call a "virtual echographic examination cabinet". The innovation of this haptic control is to preserve medical expert proprioception and gesture feelings, which provide the users with indications that are synchronized with the echographic images. In this paper, we will focus on the telegesture module: we will detail several issues and solutions related to this particular problem of tele-robotic scan examination.
Le Courrier Du C N R S, 1993
Proceedings of the First Joint Conference on Computer Vision Virtual Reality and Robotics in Medicine and Medial Robotics and Computer Assisted Surgery, 1997
Until now, Computer Assisted Surgery has focused mostly on surgical procedures for rigid anatomic... more Until now, Computer Assisted Surgery has focused mostly on surgical procedures for rigid anatomical structures. Because soft tissues may be highly mobile and deformable, they may require specific imaging devices, suitable modelling tools and guiding systems. Percutaneous pericardial puncture is a good clinical target: this procedure is often blind and dangerous eventhough echographic control is used. Using computer assistance can
... Hans Reinhardt, MD Emile Reyt, MD Richard Robb, PhD Jean-Marie Rocchisani, MD University of T... more ... Hans Reinhardt, MD Emile Reyt, MD Richard Robb, PhD Jean-Marie Rocchisani, MD University of Tokyo, Japan Hospital for Sick Children, USA Yale University, USA Johns Hopkins University, USA PhD, Grenoble University, France University of North Carolina, USA Nagoya ...
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2015
3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to ... more 3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intraoperative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.