Quentin PEYRON "Concept of magnetic concentric tube robot: introduction et analysis"

Quentin Peyron PhD Works : "Concept of magnetic concentric tube robot: introduction et analysis"

Abstract : Minimally invasive medical interventions are promising to operate on internal organes while minimizing the physical trauma induced on the patient. Their use is however hampered by challenges in accessing the operation site, in positioning and orienting the surgical tools around the targeted organ, and in managing the interactions between tools and surrounding tissues. In this PhD thesis, we propose a new concept of continuum robot, called the magnetic Concentric Tube Robot (m-CTR), to assist surgeons during these procedures. This robot is obtained by combining the actuation strategies used by concentric tube robots (CTR) and magnetic continuum robots (m-CR). The m-CTR inherits the deployment and miniaturisation capabilities, as well as the workspace, specific to both actuation strategies. It can then be deployed through narrow cavities and the pose of its tip can be controlled at the operation site. The robot elastic stability can also be modulated, in order to have different kind of interactions with the environment. The concept of m-CTR is evaluated by first assessing the performances and the kinematics of CTR and m-CR. We propose then a new numerical tool for the simulation of continuum robot deployments and the analysis of their behaviour in terms of elastic stability and cardinality. New results are obtained concerning the performances of these robots, which are validated experimentally for the m-CR. Second, the m-CTR is studied numerically and experimentally in three different scenarios, inspired by mini-invasive interventions and which exploit its capabilities.

Jury Composition : 

Nicolas ANDREFF,  Professeur des Universités, Université Franche-Comté, PhD Diector

Pierre RENAUD, Professeur des Universités, INSA de Strasbourg, PhD Co-director

Kanty RABENOROSOA, Maître de Conférences, ENSMM, PhD Co-director

Jérôme  SZEWCZYK, Professeur des Universités, Université Pierre et Marie Curie Paris 6,  Reporter

Sébastien BRIOT,  Chargé de Recherche, Laboratoire des Sciences du Numérique de Nantes,  Reporter

Christian DURIEZ, Directeur de Recherche, INRIA – Lille – Nord-Europe. Université Lille , Reviewer

Yassine HADDAB,  Professeur des Universités, Université de Montpellier, Reviewer

Quentin BOEHLER, Associate Professor, ETH Zürich,  Reviewer

Localization :  Amphithéâtre Jules Haag ENSMM - 26, rue de l'épitaphe 25000 BESANÇON