Publications de Charles Baur | EPFL Graph Search

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Manipulating small objects such as needles, screws or plates inside the human body during minimally invasive surgery can be very difficult for less experienced surgeons due to the loss of 3D depth perception. Classical navigation techniques are often incap ...

Efficient computer assisted surgery dealing with soft tissues remains a complex task. In most cases, the preoperative information such as 3D organ reconstructions and the planning built upon are no longer valid during the surgical process itself due to the ...

We propose and demonstrate the ability and efficiency of using a universal file format for a nanolithography pattern. A problem faced by the physicists working in the field of nanolithography is a lack of a flexible pattern design software (possibly open–source) that could be applied in combination with a broad range of commercial scanning probe microscope (SPM) systems. The current nanolithography software packages are device–specific and not portable. Therefore, it is impossible to make a lithography patt

A first aspect of the invention relates to a force sensor assembly (1) comprising:- a support (3) adapted to be attached to a frame (5);- a force sensor (9) attached at a proximal end to said support (3) and adapted to deform in response to a force along a measurement axis (2);- an end effector (11) attached at a distal end of said force sensor (9) and adapted to come into contact with a test piece, said end effector (11) having a mass (m);- a compensating system (13) comprising a counterweight (15) having

Background In contemporary surgical clinical practice, spinal instability is often treated with mechanical stabilization techniques in order to protect the spinal cord and nerve roots. These techniques involve placing screws in defined regions of the verte ...

We present a new contour segmentation method for femoral head detection in CT images. The principal idea underlying our approach is to represent the contour using active rays. Each ray has internal energy (continuity and smoothness constraints), as well as external energy (image-oriented edges and global a-priori knowledge). The causal nature of this representation allows a globally optimal, non-iterative solution to be found using dynamic programming. Moreover, even pathological bone structures can be auto

A method for extracting in real-time the position and size of liver vessels from 2D ultrasound images is described. It proceeds in two steps. Starting with a rough localization of the vessels using the scale-space theory, seed points are defined. Then, ves ...

Computer systems keep growing in complexity, processing power and web connectivity. To leverage this rich environment and to better assist users, a new type of intelligent assistant software is required. Building intelligent assistants is a difficult task ...

Computers have become affordable, small, omnipresent and are often connected to the Internet. However, despite the availability of such rich environment, user interfaces have not been adapted to fully leverage its potential. To help with complex tasks, a n ...

Today computers are part of the standard equipment of modern surgery rooms. They assist surgeons in performing complex procedures that would not be possible otherwise. However, despite the availability of more powerful and complex computer systems, their u ...

Surgeons generally assess the mobility of the ossicle chain by manual palpation using rigid elongated hooks inserted through the ear canal. As the applied forces are in the range of a few grams equivalent force, the measurement remains subjective and its r ...

An innovative surgical tool prototype dedicated to safe puncturing has been developed for the treatment of retinal vein occlusions (RVOs). The tool is manufactured monolithically by femtolaser printing in fused silica. It consists of a programmable bistabl ...

This article presents a novel fully mechanical flexure-based single axis inclinometer with degressive sensitivity based on an inverted pendulum with visual readout. The mechanism comprises a cantilever beam with a tip mass attached to its free end inducing axial compression load in the beam, thus reducing its bending stiffness. By adjusting the mass, the sensitivity of the mechanism-defined as the ratio between the beam deflection and the inclinometer inclination-can be tailored. In theory, this sensitivity

This paper presents a new planar flexure-based bistable two-jaw parallel gripper mechanism. The bistability of the mechanism is enabled by a pinned-pinned buckled beam suspended onto two cross-spring pivots. External energy is required only during the swit ...

Retinal vein occlusion (RVO) is a major cause of vision loss in patients over 50 years old. RVO can be treated by cannulation of the retinal vein to remove clots. However, cannulation of small retinal veins is challenging as the required puncture force (~10 mN) is well below human sensing capability [1]. In this paper, we introduce a passive compliant tool for retinal vein cannulation having predetermined stroke and threshold force which allows safe and precise puncturing independent of actuation input. Our

This paper presents a new approach for estimating physical properties of deformable models from experimental measurements. In contrast to most previous work, we introduce a new method based on particle filters which identifies the different stiffness prope ...

Manipulation at the sub-micron scale often requires force-sensing capabilities of milli-to nanonewton forces. This article presents a novel design of a compliant load cell with mechanically adjustable stiffness. The system enables adapting force sensitivit ...

In this paper, we present a new flexure-based load cell with adjustable stiffness designed for force sensors with extended force range and respective measuring resolution. This novel monolithic mechanism consists of a T-shaped flexure pivot combined with a ...

Les interventions chirurgicales par voie minimale invasive nécessitent la manipulation précise de plusieurs instruments dans une zone relativement étroite. Particulièrement en neurochirurgie, la présence d'une 3ème main robotisée est une aide précieuse pour assister le chirurgien à positionner ses outils et en particulier l’endoscope. Ce projet à pour but de concevoir un nouveau robot à 6 degrés de libertés sur la base d'une structure Trilame à lames flexibles.

We address the need for robust detection of obstructed human features in complex environments, with a focus on intelligent surgical UIs. In our setup, real-time detection is used to find features without the help of local (spatial or temporal) information. ...

Charles Baur

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Endoscopic navigation for minimally invasive suturing

A Framework for Intraoperative Update of 3D Deformable Models in Liver Surgery

Data coding tools for color-coded vector nanolithography

Force and torque sensor assemblies

Robotic system for cervical spine surgery

Optimal femoral head contour segmentation in CT images using dynamic programming

Fast Wavelet based Ultrasound Image Segmentation for Liver Vessels Extraction

Active : A unified platform for building intelligent web interaction assistants

Active, a Tool for Building Intelligent User Interfaces

ACTIVE, A PLATFORM FOR BUILDING INTELLIGENT OPERATING ROOMS

Design and modelling of a compliant constant-force surgical tool for objective assessment of ossicular chain mobility

Bistable Puncturing Tool for Retinal Vein Cannulation

Flexure-based inverted pendulum mechanical inclinometer

Fully compliant snap-through bistable gripper mechanism based on a pinned-pinned buckled beam

Safe Puncture Tool for Retinal Vein Cannulation

Identifying physical properties of deformable objects by using particle filters

Design of a compliant load cell with adjustable stiffness

Load cell with adjustable stiffness based on a preloaded T-shaped flexure pivot

Porte endoscope à lames flexibles: Trilame

Robust Method for Real-time, Continuous, 3D Detection of Obstructed Faces in Indoors Environments