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Hannes Bleuler

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Publications associées (125)

Dionis: A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery

Hannes Bleuler, Reymond Clavel, Laura Santos Carreras, Giulio Rognini

The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism ...

Ios Press2011

Design and Evaluation of a Novel Haptic Interface for Endoscopic Simulation

Hannes Bleuler, Lionel Flaction, Evren Samur

Inspection of the colon with an endoscope for early signs of cancer (colonoscopy) has become an extremely widespread procedure, since early treatment radically improves the outlook of patients. The procedure requires a close coordination between the sense ...

Ieee Computer Soc2011

Climbing robot with thermal glue

Francesco Mondada, Hannes Bleuler, Vitalis Hirschmann, Frédéric Rochat, Thierry Barras

Climbing robots require an adhesion principle in order to overcome gravity. Many physical principles have been used. In this work, the use of thermal glue is proposed. The implementation of miniature thermal glue dispenser is presented with experimental re ...

World Scientific2011

Cy-mag3De: magnetic climbing inspection robot

Francesco Mondada, Hannes Bleuler, Frédéric Rochat, Patrick Schoeneich, Olivier Marti

Cy-Mag3De is a magnetic climbing inspection robot with advanced mobility. It is based on an innovative, award-winning and patented magnetic design. Its mobility is further enhanced thanks to a novel active tail. The robot has a cylindrical shape of 80 mm i ...

World Scientific2011

Design of Magnetic Switchable Device (MSD) and applications in climbing robot

Francesco Mondada, Hannes Bleuler, Stéphane Magnenat, Michael Bonani, Frédéric Rochat, Patrick Schoeneich

A Magnetic Switchable Device (MSD) is a ferromagnetic circuit using permanent magnets where the flux can circulate between different paths when its configuration is changed. This routes or cancels the flux through specific surfaces, and thus turns on or of ...

World Scientific2010

Augmented White Cane with Multimodal Haptic Feedback

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Simon Gallo, Laura Santos Carreras

This paper proposes an instrumented handle with multimodal augmented haptic feedback, which can be integrated into a conventional white cane to extend the haptic exploration range of visually impaired users. The information extracted from the environment t ...

IEEE2010

Towards Mixed Societies of Chickens and Robots

Francesco Mondada, Hannes Bleuler, Jean-Louis Deneubourg, Alexey Gribovskiy

To design, to study, and to control mixed animals-robots societies is a challenging field of scientific exploration that can bring new frameworks to study individual and collective behaviors in animal and mixed robot-animal societies. In the Chicken Robot ...

IEEE Press2010

Affordable SLAM through the Co-Design of Hardware and Methodology

Francesco Mondada, Hannes Bleuler, Paolo Germano, Stéphane Magnenat, Michael Bonani, Valentin Longchamp, Philippe Rétornaz

SLAM is a prominent feature for autonomous robots operating in undefined environments. Applications areas such as consumer robotics appliances would clearly benefit from low-cost and compact SLAM implementations. The SLAM research community has developed s ...

IEEE Press2010

Virtual Environment to Evaluate Multimodal Feedback Strategies for Augmented Navigation of the Visually Impaired

Hannes Bleuler, Roger Gassert, Solaiman Shokur, Masayuki Hara

This paper proposes a novel experimental environ- ment to evaluate multimodal feedback strategies for augmented navigation of the visually impaired. The environment consists of virtual obstacles and walls, an optical tracking system and a simple device wit ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Magnetic wheels optimization and application to the MagneBike climbing robot

Francesco Mondada, Hannes Bleuler, Fabien Tâche, Frédéric Rochat, Patrick Schoeneich

Magnetic wheels are a powerful solution to design inspection climbing robots with excellent mobility. Magnetic wheels optimization based on simulations and the results that were obtained on prototypes are presented. The measured adhesion was doubled betwee ...

World Scientific2010

The MarXbot, a Miniature Mobile Robot Opening new Perspectives for the Collective-robotic Research

Francesco Mondada, Hannes Bleuler, Stéphane Magnenat, Michael Bonani, Daniel Burnier, Valentin Longchamp, Florian Christopher Vaussard, Philippe Rétornaz, Gilles Roulet

Collective and swarm robotics explores scenarios involving many robots running at the same time. A good platform for collective-robotic experiments should provide certain features among others: it should have a large battery life, it should be able to perc ...

IEEE Press2010

Ein Greifer für Minimal-invasive Robotisierte Chirurgie mit integriertem Kraftsensor

Hannes Bleuler, Mathieu Joseph Charles Stephan, Ricardo Daniel Rita Beira, Laura Santos Carreras, Giulio Rognini, Ali Sengül

2010

Tendon-Based Transmission for Surgical Robotics: Systematic Experimental Friction Modeling

Hannes Bleuler, Patrick Schoeneich, Ricardo Daniel Rita Beira, Masayuki Hara, Ali Sengül

Increased miniaturization of surgical instruments is essential to successfully perform surgical procedures in restricted areas as in many applications of minimally-invasive surgery. Miniaturization permits increase in dexterity and decrease in access incis ...

2010

Haptic/VR Assessment Tool for Fine Motor Control

Hannes Bleuler, Roger Gassert, Olivier Lambercy, Evren Samur, Christophe Emery

The Nine Hole Peg Test (NHPT) is routinely used in clinical environments to evaluate a patient’s fine hand control. A physician measures the total time required to insert nine pegs into nine holes and obtains information on the dexterity of the patient. Ev ...

Springer Berlin / Heidelberg2010

Modeling and Design of a Gripper for a Robotic Surgical System Integrating Force Sensing Capabilities in 4 DOF

Hannes Bleuler, Mathieu Joseph Charles Stephan, Ricardo Daniel Rita Beira, Laura Santos Carreras, Giulio Rognini, Ali Sengül

This paper reports the design of a Minimally Invasive Surgery (MIS) gripper with four degrees of freedom force sensing capabilities. It will be used to provide force feedback during surgical interventions in which the surgeon will remotely manipulate surgi ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Tubulo - a train-like miniature inspection climbing robot for ferromagnetic tubes

Francesco Mondada, Roland Moser, Hannes Bleuler, Gilles Caprari, Frédéric Rochat, Olivier Truong-Dat Nguyen, Patrick Schoeneich

A train-like miniature climbing inspection robot for ferromagnetic tubes is presented in this paper. Using magnetic wheels, it climbs in tubes of 25 mm of diameter and bigger in any orientation, and pass bends with curvatures above 150 mm in some cases. It ...

IEEE Press2010

Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment

Francesco Mondada, Hannes Bleuler, Frédéric Rochat, Patrick Schoeneich, Barthélémy Lüthi

Cy-mag3D is a miniature climbing robot with advanced mobility and magnetic adhesion. It is very compact: a cylindrical shape with 28 mm of diameter and 62 mm of width. Its design is very simple: two wheels, hence two degrees of freedom, and an advanced mag ...

World Scientific2010

Design and Psychophysical Evaluation of a Tactile Pulse Display for Teleoperated Artery Palpation

Hannes Bleuler, Roger Gassert, Philippe Rétornaz, Kaspar Leuenberger, Laura Santos Carreras

During traditional open procedures, surgeons directly palpate tissues before dissecting them. In this way, they can avoid the accidental damage of hidden arteries that can lead to fatal hemorrhage. New Minimally Invasive Surgical (MIS) techniques progressi ...

IEEE2010

Influence of force and torque feedback on operator performance in a VR-based suturing task

Hannes Bleuler, Roger Gassert, Ricardo Daniel Rita Beira, Laura Santos Carreras, Ali Sengül

The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an a ...

Taylor & Francis2010

Development of a 2-DOF Electrostatic Haptic Joystick for MRI/fMRI Applications

Hannes Bleuler, Roger Gassert, Dominique Chapuis

This paper describes the development of a 2-DOF electrostatic haptic joystick designed for neuroscience studies in an MRI/fMRI. The joystick is fabricated using non-magnetic materials and actuated by two high-power electrostatic motor units which produce v ...

2009

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