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272 results on '"Christian Duriez"'

1. A Collapsible Soft Actuator Facilitates Performance in Constrained Environments

Author

Jacob Rogatinsky, Kiran Gomatam, Zi Heng Lim, Megan Lee, Lorenzo Kinnicutt, Christian Duriez, Perry Thomson, Kevin McDonald, and Tommaso Ranzani

Subjects
inflatable robots, soft actuators, soft robotics, Computer engineering. Computer hardware, TK7885-7895, Control engineering systems. Automatic machinery (General), TJ212-225
Abstract

Complex environments, such as those found in surgical and search‐and‐rescue applications, require soft devices to adapt to minimal space conditions without sacrificing the ability to complete dexterous tasks. Stacked balloon actuators (SBAs) are capable of large deformations despite folding nearly flat when deflated, making them ideal candidates for such applications. This paper presents the design, fabrication, modeling, and characterization of monolithic, inflatable, soft SBAs. Modeling is presented using analytical principles based on geometry and then using conventional and real‐time finite‐element methods. Both one and three degree‐of‐freedom (DoF) SBAs are fully characterized with regard to stroke, force, and workspace. Finally, three representative demonstrations show the SBA's small‐aperture navigation, bracing, and workspace‐enhancing capabilities.

Published
2022
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2. Visual Haptic Feedback for Training of Robotic Suturing

Author

François Jourdes, Brice Valentin, Jérémie Allard, Christian Duriez, and Barbara Seeliger

Subjects
surgical simulation, haptics, knot-tying, collision detection, virtual reality, robotic surgery training, Mechanical engineering and machinery, TJ1-1570, Electronic computers. Computer science, QA75.5-76.95
Abstract

Current surgical robotic systems are teleoperated and do not have force feedback. Considerable practice is required to learn how to use visual input such as tissue deformation upon contact as a substitute for tactile sense. Thus, unnecessarily high forces are observed in novices, prior to specific robotic training, and visual force feedback studies demonstrated reduction of applied forces. Simulation exercises with realistic suturing tasks can provide training outside the operating room. This paper presents contributions to realistic interactive suture simulation for training of suturing and knot-tying tasks commonly used in robotically-assisted surgery. To improve the realism of the simulation, we developed a global coordinate wire model with a new constraint development for the elongation. We demonstrated that a continuous modeling of the contacts avoids instabilities during knot tightening. Visual cues are additionally provided, based on the computation of mechanical forces or constraints, to support learning how to dose the forces. The results are integrated into a powerful system-agnostic simulator, and the comparison with equivalent tasks performed with the da Vinci Xi system confirms its realism.

Published
2022
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3. Review on generic methods for mechanical modeling, simulation and control of soft robots

Author

Pierre Schegg and Christian Duriez

Subjects
Medicine, Science
Abstract

In this review paper, we are interested in the models and algorithms that allow generic simulation and control of a soft robot. First, we start with a quick overview of modeling approaches for soft robots and available methods for calculating the mechanical compliance, and in particular numerical methods, like real-time Finite Element Method (FEM). We also show how these models can be updated based on sensor data. Then, we are interested in the problem of inverse kinematics, under constraints, with generic solutions without assumption on the robot shape, the type, the placement or the redundancy of the actuators, the material behavior… We are also interested by the use of these models and algorithms in case of contact with the environment. Moreover, we refer to dynamic control algorithms based on mechanical models, allowing for robust control of the positioning of the robot. For each of these aspects, this paper gives a quick overview of the existing methods and a focus on the use of FEM. Finally, we discuss the implementation and our contribution in the field for an open soft robotics research.

Published
2022

24. Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges

Author

Cosimo Della Santina, Christian Duriez, and Daniela Rus

Subjects
FOS: Computer and information sciences, Computer Science - Robotics, Control and Systems Engineering, Modeling and Simulation, FOS: Electrical engineering, electronic engineering, information engineering, Systems and Control (eess.SY), Electrical and Electronic Engineering, Robotics (cs.RO), Electrical Engineering and Systems Science - Systems and Control
Abstract

Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a monkey's tail). This work aims to introduce the control theorist perspective to this novel development in robotics. We aim to remove the barriers to entry into this field by presenting existing results and future challenges using a unified language and within a coherent framework. Indeed, the main difficulty in entering this field is the wide variability of terminology and scientific backgrounds, making it quite hard to acquire a comprehensive view on the topic. Another limiting factor is that it is not obvious where to draw a clear line between the limitations imposed by the technology not being mature yet and the challenges intrinsic to this class of robots. In this work, we argue that the intrinsic effects are the continuum or multi-body dynamics, the presence of a non-negligible elastic potential field, and the variability in sensing and actuation strategies., 69 pages, 13 figures

Published
2023

50. A Bio-Inspired Active Prostate Phantom for Adaptive Interventions

Author

Wojciech Polak, Stefan Escaida Navarro, Antony L. Palmer, Sepaldeep Singh Dhaliwal, Mario Sanz Lopez, Rochdi Merzouki, Christian Duriez, Sarah Wilby, Deformable Robots Simulation Team (DEFROST ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), SOFA Framework, and SOFA

Subjects
Orientation (computer vision), Radioactive seed, Computer science, Applied Mathematics, General Mathematics, medicine.medical_treatment, Brachytherapy, food and beverages, equipment and supplies, Imaging phantom, medicine.anatomical_structure, Prostate, medicine, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Dosimetry, Adaptive interventions, Needle insertion, Biomedical engineering
Abstract

International audience; In this paper, a novel concept for a phantom of the prostate is introduced. To study and improve automated, robotized medical interventions, reliable phantoms are essential. During brachytherapy and biopsy, the prostate will undergo displacements and changes in orientation due to the needle insertion. Therefore, there is a shift in the target regions for radioactive seed deposition or biopsy acquisition. These shifts need to be taken into account for precise dosimetry. Furthermore, the organ can undergo deformations due to edemas with the same shifting result. Therefore, in this paper we propose a bioinspired phantom (BIP) for the prostate that is equipped with sensors and coupled with a numerical simulation for estimating deformations due to external forces. We have also put in place a cavity inside the phantom where pressure can be applied to enable the emulation of prostate growth due to inflammation. The phantom is conceived in such a way that it will be MRIsafe. It can thus be deployed for the in-bore study of automated brachytherapy and biopsy. In our evaluation, we verify that the changes in pose of the phantom can be correctly estimated and that these motions are plausible from a clinical point of view.

Published
2022

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