Florent Nageotte

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Flexible endoscopes are used in many surgical procedures and diagnostic exams. They have also been used recently for new surgical procedures using natural orifices called NOTES. While these procedures are really promising for the patients, they are really awkward for the surgeons. In order to assist the surgeon, physiological motion cancellation has been(More)
The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscope possibilities and workspace, we are currently(More)
The work presented in this paper addresses the problem of the stitching task in laparoscopic surgery using a circular needle and a conventional 4 DOFs needle-holder. This task is particularly difficult for the surgeons because of the kinematic constraints generated by the fulcrum in the abdominal wall of the patient. In order to assist the surgeons during(More)
The use of flexible cable-driven systems is common in medicine (endoscope, catheter...). Their flexiblity allows surgeons to reach internal organs through sinuous and constrained ways. Unfortunately these systems are subject to backlash due to their internal mechanism. These non linearities raise many difficulties when robotizing and controlling such(More)
No-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery. No-scar surgery can be performed with flexible instruments, carried by a guide under the vision of an endoscopic camera. This technique brings many benefits for the patient, but also introduces several difficulties(More)
Flexible endoscopes have been recently used for new surgical procedures called NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery. However, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscopes possibilities and workspace, several solutions have(More)
The field of vision-based robotics has been widely growing for more than three decades, and more and more complex 3-D scenes are within robot vision capabilities thanks to better understanding of the scenes, improvement of computer capabilities and control theory. The achievement of applications like medical robotics, mobile robotics, micro-robotic(More)
This paper presents an endoscopic vision framework for modelbased 3D guidance of surgical instruments used in robotized laparoscopic surgery. In order to develop such a system, a variety of challenging segmentation, tracking and reconstruction problems must be solved. With this minimally invasive surgical technique, every single instrument has to pass(More)
BACKGROUND Complex intraluminal surgical interventions of the gastrointestinal tract are challenging due to the limitation of existing instruments. Our group has developed a master-slave robotic flexible endoscopic platform that provides instrument triangulation in an endoluminal environment. MATERIALS AND METHODS Colonic endoscopic submucosal dissections(More)