Jérôme Szewczyk

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This article presents distributed impedance as a new approach for multiple robot system control. In this approach, each cooperating manipulator is controlled by an independent impedance controller. In addition, along selected degrees of freedom, force control is achieved through an external loop, to improve control of the object's internal loading.(More)
— Probe-based confocal laser endomicroscopy is a promising technology for performing minimally-invasive optical biopsies. With the help of mosaicing algorithms, several studies reported successful results in endoluminal surgery. In this paper, we present a prototype for making robotized optical biopsies on a variety of organs inside the abdominal cavity. We(More)
PURPOSE The purpose of the study is to develop an algorithm for the segmentation of renal calculi on ureteroscopic images. In fact, renal calculi are common source of urological obstruction, and laser lithotripsy during ureteroscopy is a possible therapy. A laser-based system to sweep the calculus surface and vaporize it was developed to automate a very(More)
— Instruments used in many types of minimally invasive procedures, in particular laparoscopy, are rigid or only limitedly flexible. Some tasks like suturing are difficult to perform, because they require dexterity when the instruments are limited to four degrees of freedom (DOF). A novel hand-held, lightweight and ergonomic mechatronic instrument is(More)
Keywords: Active endoscope Shape memory alloys Minimal invasive surgery Sliding mode control Genetic algorithms a b s t r a c t Actual endoscopes and boroscopes, widely used in industry and in minimal invasive surgery, have considerable limitations, mainly due to their low number of degrees of freedom and their manual operation. Two different solutions for(More)