Gérard Poisson

Learn More
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(More)
OBJECTIVE To design a method for conducting fetal ultrasound examinations in isolated hospital sites using a dedicated remotely controlled robotic arm (tele-echography). METHODS Tele-echography was performed from our hospital (expert center) on 29 pregnant women in an isolated maternity hospital (patient site) 1700 km away, and findings were compared with(More)
The objective of the present project was to design and validate a method for teleoperating (from an expert site) an echographic examination in an isolated site. A dedicated robotic arm holding a real ultrasound (US) 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.(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(More)
UNLABELLED The objective was to design and validate a method for tele-operating (from an expert site) an echographic examination in an isolated site. METHOD 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(More)
In this paper, we present a modular method of environment perception for a mobile robot by local mapping. This map building process is done in order to authorize the motions of a mobile robot in unknown indoor environment. To validate it, we have implemented a reactive navigation on a mobile robot which perceives its near environment with two range finders.(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(More)
In this paper, we present a control architecture based on the concept of levels. The architecture is composed of two parts called the decision part and the perception part. This organization permits to construct various configurations and is adaptable to any application. We implemented this architecture on different robotic platforms: a mobile robot, an(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(More)