Jérôme Szewczyk

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Middle ear surgery requires micro-surgical techniques and may benefit from robotic assistance. A prototype of tele-operated system is presented. Methods to determine design specifications, kinematic structure and optimization of the micro-manipulator are described. First evaluation of the robot by a stapedial removal through the external auditory meatus in(More)
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 the electrical actuation of articulated endoscopes are presented in this paper. The technical constraints for this kind of(More)
Due mainly to drastically shortened recovery times and lower overall cost, minimally invasive surgery (MIS) is growing standard for many surgical interventions. However, associated loss of visual depth perception, difficult hand-eye coordination and distorted haptic sensation tend to complicate this task for the surgeon. In this paper, we explore the(More)
Hand-held surgical robots are manipulators with dexterous effectors to be used by surgeons in minimally invasive surgery and especially in laparoscopy. Mechanical manipulators for laparoscopy have appeared on the markets in recent years with various interfaces and dexterities. 2 examples are RealHand and Laparo-Angle. The question of which interface and(More)
We are working towards the development of a robotic hand-held surgical device for laparoscopic interventions that enhances the surgeons' dexterity. In this paper, the kinematics of the end effector is studied. Different choices of kinematics are compared during an evaluation campaign using a virtual reality simulator to find the optimal one: the Yaw-Roll(More)
This paper discusses 3 different control modes for a hand-held surgical robot. A virtual reality simulator for evaluating control modes is developed. Different control modes are evaluated and compared in a suturing task. Results show a better control and more precise sutures with a semi-coupled inverse control mode in frontal and sagittal suturing.
Shape and mechanical structure of instruments play a large part in the lack of ergonomics during laparoscopic surgery. Providing intra-abdominal mobility and rethinking handles design are two solutions to increase comfort and precision of gestures. Based on previous work that determined the optimal intra-abdominal kinematics, this study analyses the(More)
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)