Publication

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

Publications associées (29)

Integration of hybrid material systems in conformable neural interfaces

Neural interfaces are devices that are implanted into the body and interface electrically with the central (CNS) or peripheral nervous system. They are inserted surgically for short periods of time or chronically to diagnose or treat several neural disease ...

EPFL2020

Frequency stability assessment of modern power systems: Models definition and parameters identification

Mario Paolone, Giacomo Piero Schiapparelli, Yihui Zuo

One of the fundamental concerns in the operation of modern power systems is the assessment of their frequency stability in case of inertia-reduction induced by the large share of power electronic interfaced resources. Within this context, the paper propose ...

2020

Modulation of epileptic networks by transient interictal epileptic activity: A dynamic approach to simultaneous EEG-fMRI

Dimitri Nestor Alice Van De Ville, Maria Giulia Preti

Epileptic networks, defined as brain regions involved in epileptic brain activity, have been mapped by functional connectivity in simultaneous electroencephalography and functional magnetic resonance imaging (EEG-fMRI) recordings. This technique allows to ...

2020

Flexure-based mecano-optical multi-degree-of-freedom transducers dedicated to medical force sensing instruments

Sebastian Krzysztof Fifanski

This thesis develops novel multi-degrees-of-freedom flexure-based force sensors by exploiting white light interferometry. Fabry-Pérot interferometry measurement has nanometric accuracy which yields sub milli-Newton force sensing accuracy. Such force sensin ...

EPFL2020

A Compact Laser-Steering End-Effector for Transoral Robotic Surgery

Laryngeal cancer treatments, while curative, often lead to voice impairment. Minimally invasive surgical methods that facilitate greater preservation of healthy tissue have recently emerged, but they are still limited in important ways. In this work, we de ...

IEEE2019

Paragangliomas of the spine: a retrospective case series in a national reference French center

Constantin Tuleasca

Introduction Primary paragangliomas (PG) of the spine are extremely rare entities. The present study reviews our experience over a period of 30 years. Methods This is a retrospective, single center, observational study. Patients surgically treated for a sp ...

2020

Configuration of electrical spinal cord stimulation through real-time processing of gait kinematics

Tomislav Milekovic, Jérôme Gandar, Grégoire Courtine, Nikolaus Wenger, Eduardo Martin Moraud, Pavel Musienko, Marco Capogrosso, Natalia Pavlova, Fabien Bertrand Paul Wagner, Polina Shkorbatova, Jocelyne Bloch

Epidural electrical stimulation (EES) of the spinal cord and real-time processing of gait kinematics are powerful methods for the study of locomotion and the improvement of motor control after injury or in neurological disorders. Here, we describe equipmen ...

2018

Simultaneous Recognition and Pose Estimation of Instruments in Minimally Invasive Surgery

Pascal Fua, Raphael Sznitman, Pablo Marquez Neila

Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that generalizes to different ...

2017

Supernumerary Robotic Arm for Three-Handed Surgical Application: Behavioral Study and Design of Human-Machine Interface

Elahe Abdi

In surgical to industrial manipulation, the operator needs assistance for tasks requiring more than two hands. Teamwork may be the source of errors and inefficiency, especially if the assistant is a novice or unfamiliar with the main operator. The need for ...

EPFL2017