Thèse : Design and development of devices for robotized needle insertion procedures

Soutenance de thèse : Nitish KUMAR

Équipe : AVR

Titre : Design and development of devices for robotized needle insertion procedures

Résumé : This thesis focuses on finding solutions for the design and the technological bottlenecks involving development of a slave robotic assistant for needle insertion procedures. The needed functionalities for the slave device were sought to be achieved by adopting a modular approach. This required the design and the development of different devices which satisfy targeted functionalities. A study of needle positioning devices was carried out which led to the synthesis of novel mechanisms for the task of needle axis translation and the needle axis orientation. A novel dimensional synthesis algorithm was developed to calculate the structural parameters of these mechanism while studying their singularities and considering the antagonistic constraints of system compactness, actuation torques and workspace size. The modular decomposition also allowed to offer solutions for an insertion tool dedicated to needle insertion with force feedback. This insertion tool consists of a device for inserting the needle, a device for grasping the needle and a force sensor for force feedback.

Le jury est composé de Bernard Bayle (Université de Strasbourg), Olivier Piccin (INSA de Strasbourg), Vigen Arakelyan (INSA de Strasbourg), Just Herder (Université de technologie de Delft, Pays-Bas) et François Pierrot (Laboratoire du LIRMM, CNRS).

La présentation aura lieu le  mercredi 26novembre 2014 à 9h00 dans l'amphithéâtre Hirsch à l'IRCAD.