Robotics, Data science and Healthcare technologies

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=News : Two open PhD positions in Medical robotics=
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== Vision-based Trajectory Tracking Robust to Modeling Errors ==
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=== PhD Project short description ===
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Automatic tasks in medical robotics are commonly performed in the fields of orthopedic surgery or radiotherapy, but very rarely in digestive surgery. One of the difficulties is the handling of model errors in minimally invasive surgical robots, in particular the ones caused by cable transmissions. Even in the case of movements carried out in closed loop under the feedback of an endoscopic camera, the movements are often imprecise, slow and unnatural, which strongly limits the interest of automation.
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In this thesis work, we propose to develop a new paradigm for the control of robotic surgical instruments under the feedback of endoscopic cameras. Rather than trying to improve behaviors by fine modeling, we propose to integrate uncertainties on the movements of the instruments into the realization of the tasks. In return, we will accept not to carry out the task exactly by authorizing margins of precision. The general objective is to be able to achieve smoother movements while obtaining precision similar to manual control.
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From the application point of view, we will be interested in laser treatment tasks in robotic flexible endoscopy. Flexible endoscopes have complex and variable behavior over time and depending on their conditions of use and are therefore very good candidates for the application of the methods that we wish to develop.
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Here is the link to the complete description of the PhD proposal:
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https://docs.google.com/document/d/1G0mA_ciUroCLSFogS6FKxDxYnIy2Hzc5R_eNCH8T6CE/edit?usp=sharing
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=== Working Environment ===
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The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg.
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The PhD work will be supervised by Florent Nageotte (Associate Pr, Habilited to direct research).
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The PhD will be funded for 3 years by a national Grant. There will be opportunities to teach.
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=== Application ===
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We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in robotics or automatic control. Experience or knowledge in computer vision and machine learning will be appreciated but are not mandatory. Advanced skills in programming (Python or C/C++) are expected.
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The selection process will take place in two steps:
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- First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors
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- For candidates selected after the first round, interview by a university committee on June 13 or June 14.
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To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before June 1st to: Nageotte@unistra.fr
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PhD starting dates: between September and November 2023
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== Robot-assisted, focused ultrasound device for volumetric Blood-Brain-Barrier opening ==
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=== PhD Project short description ===
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The Blood-Brain Barrier (BBB) is a natural physiological barrier that prevents pathogens and harmful molecules from entering brain tissue. BBB also blocks large molecules, such as therapeutic drugs. In a report issued in 2005, BBB was considered to be the major bottleneck in brain drug development.
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Focused ultrasound, in combination with the injection of microbubbles, has the potential to open the BBB in a localized, transient and reversible manner.
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Except for implanted devices that are highly invasive, all existing studies on BBB opening are restricted to single-point focusing. From a medical point-of-view, BBB should ideally be open in larger volumes, such as the peritumoral region in the case of brain tumors. The most promising solution to achieve this goal is the use of robotics.
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The RDH team of the ICube laboratory has been developing a robot-assisted, neuronavigated BBB opening device, in collaboration with the CEA/Neurospin, a center renowned for its contributions in the field of ultrasound-mediated BBB opening. This first prototype has been shown to allow for accurate targeting of almost any specific point in the brain, taking both acoustic and robotic constraints into account. The objective of the PhD is to develop a fully operational prototype for preclinical volumetric BBB opening.
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Here is the link to the complete description of the PhD proposal:
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https://docs.google.com/document/d/1S37WLCT-a8ZX0NuWHzevUcGRwoAj9ubCF40KVFCs3pU/edit?usp=sharing
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=== Working Environment ===
 +
 +
The PhD thesis will be hosted in the RDH team (Robotics and Data Science for Health) of the ICube laboratory (joint lab of University of Strasbourg and French National Center for Research (CNRS)), ( https://icube.unistra.fr/en/ ) located in the downtown hospital of Strasbourg.
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The PhD student will join a multi-disciplinary team made of researchers, engineers and students working in robotics, physics or ultrasounds and medicine. The PhD work will be supervised by Florent Nageotte (Associate Pr.) and Jonathan Vappou (Research Scientist).
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The PhD will be funded for 3 years by the Healthtech Institute. There will be opportunities to teach.
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=== Application ===
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We are looking for a high-ranked candidate who will have completed his/her Master degree by September, with background in electrical engineering or biomedical engineering. Previous experience in robotics is recommended. Advanced skills in programming (Python or C/C++) are expected. The candidate should be willing to work using a real interdisciplinary approach, i.e., his/her work will be mainly centered on robotics, but he/she should have a thorough understanding of the underlying ultrasound physics and physiology.
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The selection process will take place in two steps:
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- First selection of candidates on the fly on the basis of provided written documents (see below) and interviews with PhD supervisors
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- For candidates selected after the first round, interview by a Healthtech committee end of May (dates to be defined).
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To apply send a CV, cover letter, master program and master grades (M1 and first semester of M2) before May 8th to: Nageotte@unistra.fr and jvappou@unistra.fr
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PhD starting dates: between September and November 2023
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=Curriculum Vitae=
 
=Curriculum Vitae=
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== Courses ==
 
== Courses ==
  
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=== In TPS, Healthtech Master and Third year TIS DTMI (M2 level),  ===
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=== In Telecom Physique Strasbourg ===
 +
 
 +
==== Healthtech Master and Third year TIS DTMI (M2 level),  ====
 
   
 
   
 
* CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])-->
 
* CAMI in digestive surgery <!--([http://eavr.u-strasbg.fr/~nageotte/GMCAO_Chirurgie_digestive_2016.pdf Support de cours])-->
  
−
* Computer vision for medical robotics (pose estimation de pose, robotic registration and visual servoing)  
+
* Computer vision for medical robotics (pose estimation, robotic registration and visual servoing)  
 
<!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])-->
 
<!--([http://eavr.u-strasbg.fr/~nageotte/Support_cours_TIS_1920_vimp_4students.pdf Transparents] de cours (version du 01/12/2019), [http://eavr.u-strasbg.fr/~nageotte/Fascicule_exercices_TIS_1920.pdf Fascicule de TDs])-->
 
   
 
   
 
<!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])-->
 
<!--[http://eavr.u-strasbg.fr/~nageotte/Corrections_exercices.pdf Corrigés des exercices])-->
  
−
=== TPS, M2 IRIV / IRMC ===
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==== M2 IRIV / IRMC ====
  
 
* Registration in medical robotics.
 
* Registration in medical robotics.
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-->
 
-->
  
−
=== Electronic systems and Mechatronics Bachelor (Third year) ===
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==== TPS, Second year and M1 IRIV ====
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* Tutorials on OpenCV
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* Computer vision course (mosaicking, reconstruction of planar objects)
  
−
* Course and tutorials on continuous-time systems control
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=== In Physics and engineering department of University of Strasbourg ===
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==== Electronic systems and Mechatronics Bachelor (Third year) ====
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* Tutorials and hands-on in continuous-time systems control
 
<!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus)   
 
<!-- et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes continus)   
 
**[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18)  
 
**[http://eavr.u-strasbg.fr/~nageotte/Transp_cours_L3ESA_L3Mecha_19.pdf Transparents du cours] (version du 04/01/18)  
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-->
 
-->
  
−
=== Micro and Nano Electronics Master (First year) ===
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==== Micro and Nano Electronics Master (First year) ====
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* Course and tutorials on discrete-time systems control
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* Course, tutorials and hands-on in discrete-time systems control
  
 
<!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques)  
 
<!--* Cours et travaux dirigés d'automatique (Outils d'analyse et de correction des systèmes numériques)  
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-->
 
-->
  
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=== TPS FIP Third year ===
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=== Past lectures ===
 +
 
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==== TPS FIP Third year ====
 
* Medical robotics course
 
* Medical robotics course
 
<!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage-->
 
<!--Cours de [http://eavr.u-strasbg.fr/~nageotte/MedicalRobotics_FIP_2017.pdf robotique médicale] et de recalage-->
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* PhD theses supervision (defended theses)
 
* PhD theses supervision (defended theses)
−
** Gaelle Thomas, defended on October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat)
+
** Paul Mondou (with Jonathan  Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies"
 +
** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery
 +
** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023
 +
** Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat)
 
** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex)
 
** Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex)
−
** Laure-Anaïs Chanel, thèse soutenue en mars 2016 (Traitement par HIFU robotisé sous imagerie échographique, funded by CAMI labex)
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** Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications)
−
** Paolo Cabras, defendd in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript]
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** Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex)
 +
** Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): [http://eavr.u-strasbg.fr/~nageotte/These_Paolo_Cabras_version_finale.pdf manuscript]
 
** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique)
 
** Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique)
 
** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale)
 
** Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale)
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** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021
 
** Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021
 
** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021
 
** Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021
−
** Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), since October 2019 (Shared control for minimally invasive surgery)
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** Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023
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** Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023
  
 
* Co-supervisions:
 
* Co-supervisions:
−
** Fernando Gonzalez Herrera, (with Benoit Rosa,Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020
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** Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020
−
** Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University Verona), since October 2019
+
 
−
** Paul Mondou (with Jonathan  Vappou and Benoit Larrat (CEA Neurospin)), funded by CAMI Labex, since October 2020
 
  
 
<!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)-->
 
<!--***Norbert Masson, depuis 2006 (traitement temps réel d'images endoscopiques)-->
  
 
* Recent Master students
 
* Recent Master students
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** Giorgia Baldazzi
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** Adnan Saood
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** Tania Olmo Fajardo
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** Edgard Weissrock
 
** François Lavieille
 
** François Lavieille
 
** Thibault Poignonec
 
** Thibault Poignonec
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* Course on visual servoing at Summer School on Surgical Robotics (since 2011).  
 
* Course on visual servoing at Summer School on Surgical Robotics (since 2011).  
 
* French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018  
 
* French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018  
−
• Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? »  
+
* Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? »  
−
• Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery »
+
* Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery »
  
 +
<!--
 
= Open position for PhD thesis =
 
= Open position for PhD thesis =
  
 
We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions.
 
We are looking for a student with background in computer vision or medical image processing for a PhD thesis to start in October 2022 on the correction of volumic OCT robotic-driven acquisitions.
 
The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here].
 
The complete description of the project can be found [https://docs.google.com/document/d/15X5s6UyHxq-0eVzQa6YUJLdKYxKjXlUj72Gwh6HmcEg/edit?usp=sharing here].
 +
-->
  
 
=Personal area=
 
=Personal area=

Latest revision as of 09:13, 11 April 2024

Associate Professor in Medical Robotics
Télécom Physique Strasbourg / ICUBE



français | english

Florent nageotte id3.jpg



Curriculum Vitae

  • 2021: Habilitation to direct research (HDR) (defended on Sept. 7, electronic document) (Rev.: A. Menciassi, P. Poignet, J.Szewczyk, Pres. J. Troccaz)
  • Since 2020: Head of IRMC and Healthtech Master tracks of IRIV Master
  • 2019: Internal transfer to Telecom Physique Strasbourg (Engineering school)
  • 2018-2020: Expert in the Health technology committee (CES 19) of French National Research Funding Agency (ANR)
  • 2006: Recruited as Associate Pr. at University of Strasbourg (formerly Louis Pasteur University)
  • 2005: PhD from Louis Pasteur University, Strasbourg, in Medical Robotics under the supervision of M. de Mathelin.
  • 2000: Master in Photonics, Image and Cybernetics, ULP, Strasbourg. Intern at the Center for Distributed Robotics at the University of Minnesota, under the direction of N. Papanikolopoulos
  • 2000: Engineering diploma from ENSPS shool, Strasbourg. Major in robotics.

Responsibilities

  • Member of the Executive Committee of the Healthtech Interdisciplinary thematic Institute
  • Scientific manager of Medical axis in national robotic equipment platform (TIRREX)
  • Head of the Healthtech track of IRIV master , funded by Healthtech ITI
  • Head of the IRMC track of IRIV master hosted by Telecom Physique Strasbourg (M1 IMed / M2 IRMC)
  • Referent for Alumni for the engineering school, responsible of yearly poll by the "Conférence des Grandes Ecoles" on former students professional future

Teaching

Associate Professor at Université de Strasbourg, attached to Télécom Physique Strasbourg, (engineering school) since February 2019 (previously at the Physics and engineering department). I mainly teach medical robotics and computer vision for student in engineering at Télécom Physique Strasbourg, mainly at the master 2 level. I also teach automatic control at the Bachelor and Master level for student in the Physics and Engineering department. .

Courses

In Telecom Physique Strasbourg

Healthtech Master and Third year TIS DTMI (M2 level),

  • CAMI in digestive surgery
  • Computer vision for medical robotics (pose estimation, robotic registration and visual servoing)


M2 IRIV / IRMC

  • Registration in medical robotics.

TPS, Second year and M1 IRIV

  • Tutorials on OpenCV
  • Computer vision course (mosaicking, reconstruction of planar objects)

In Physics and engineering department of University of Strasbourg

Electronic systems and Mechatronics Bachelor (Third year)

  • Tutorials and hands-on in continuous-time systems control

Micro and Nano Electronics Master (First year)

  • Course, tutorials and hands-on in discrete-time systems control


Past lectures

TPS FIP Third year

  • Medical robotics course



Summer school on Surgical Robotics in Montpellier

  • Tutorial on visual servoing applied to medical robotics, given during the 10th Summer School on Surgical Robotics, on September 2021. Link to the summer school webpage

Research

My research is driven by medical applications where robotics and computer vision can be useful for improving the capabilities of surgeons. In the past years, I have been especially interested in the development of robotic solutions based on cable-driven flexible instruments and endoscopes (STRAS system) and in the use of images (endoscopic white light and OCT) to guide robotic motions (ROBOT project).


  • PhD theses supervision (defended theses)
    • Paul Mondou (with Jonathan Vappou, Anthony Novell and Benoit Larrat (CEA Neurospin)), partly funded by CAMI Labex, defended on December 2023, "Intelligent control of microbubbles cavitation through the skull for optimizing US therapies"
    • Thibault Poignonec (with Nabil Zemiti (LIRMM) and Bernard Bayle, funded by CAMI Labex), defended on May 3 2023: Shared control for minimally invasive surgery
    • Guiqiu Liao (with Michalina Gora, Benoit Rosa and Diego Dall'Alba (University of Verona, Italy)), defended on January 16 2023
    • Gaelle Thomas, defended in October 2021, with J. Vappou and L. Barbé (Robotic Assistance to Blood-Brain barrier opening with focused ultrasounds), in the scope of ANR project 3BOPUS led by CEA - Neurospin (B. Larrat)
    • Rafael Aleluia Porto, defended on January 2021 (Learning-based control of flexible endoscopes, partly funded by CAMI labex)
    • Oscar Caravaca Mora, defended in February 2020 (Development of steerable OCT catheterfor endoscopic applications)
    • Laure-Anaïs Chanel, defended in March 2016 (Robotic HIFU treatments under ultrasounds imaging, funded by CAMI labex)
    • Paolo Cabras, defended in février 2016 : 3D Pose Estimation of Continuously Deformable Instruments in Robotic Endoscopic Surgery (funded by CAMI labex): manuscript
    • Antonio De Donno, defended in December 2013 (Assistance à la chirurgie endoluminale et à trocart unique)
    • Bérengère Bardou, defended in November 2011 (Développement et commande d'un système robotique pour l'assistance à la chirurgie transluminale)
    • Laurent Ott, defended in November 2009 (compensation de mouvements physiologiques en endoscopie flexible). Prix de thèse de l'UDS.
  • Theses in progress:
    • Guillaume Lods (with Benoit Rosa and Bernard Bayle), since October 2021
    • Valentina Scarponi (with Stéphane Cotin, funded by Healthtech), since October 2021
    • Mahdi Chaari, (MSII Doctoral school PhD thesis), since October 2023
    • Guilherme Correia, (with Jonathan Vappou, funded by Healthtech and TechnoFUS joint lab), since October 2023
  • Co-supervisions:
    • Fernando Gonzalez Herrera, (with Benoit Rosa, Gianni Borghesan and Emmanuel Vander Poorten (KUL)) since February 2020


  • Recent Master students
    • Giorgia Baldazzi
    • Adnan Saood
    • Tania Olmo Fajardo
    • Edgard Weissrock
    • François Lavieille
    • Thibault Poignonec
    • Xuan Thao Ha
    • Mohamed Amine Falek

Research interests

  • Robotic Assistance to flexible endoscopy, STRAS project
  • Vision-based control for medical instruments
  • Estimation through vision
  • Trajectory planning
  • Cable-driven robotic systems
  • Image-based registration

Projects

  • ProteCT (2012-2016), 36 monthes, led by B. Bayle (AVR-ICube), partners: IHU Strasbourg, Siemens, funded by ARC fundation,

Development of a robot for positioning and inserting needles in non vascular interventional radiology.


  • 3BOPUS (2018-2021) Robotic Assistance to Blood-Brain Barrier opening with Focused Ultrasounds, funded by ANR, led by CEA Neurospin
    • PhD thesis of Gaelle Thomas and Paul Mondou
  • ALLEGRO-HM Endoscopic procedures guided by hyperspectral imaging

Publications

http://icube-publis.unistra.fr/?author=nageotte&allaut=or&title=&team=&platform=&national=&project=&tagmed=&year1=&year2=&=#hideMenu


Invited talks

  • Course on visual servoing at Summer School on Surgical Robotics (since 2011).
  • French-Belgian days of medical robotics in Brussels « Robotic assistance to intraluminal surgery for colorectal cancer treatment », June 14,15 2018
  • Rhenane association of Gastroenterology, 12/15/2018 : « Robotique en endoscopie : où en est-on en 2018 ? »
  • Plenary talk at Journées Nationales de la Recherche en Robotique organized by GDR robotique, oct. 2019, « Continuum robotics for intraluminal surgery – Towards safe and efficient minimally invasive surgery »


Personal area

Seattle, WA (ICRA 2015)

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Downtown from Lake Union
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Welcome Dinner at the Experience Music Project / Science Fiction Museum
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North view from Columbia Center



Tokyo (Medical robotics seminar at the french embassy)

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Asakusa Shrine
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Tokyo from Sunshine60
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Shibuya by night



Texas (Computational Surgery 2011)

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San Antonio Riverside
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Fort Alamo
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Texas Medical Center Houston


Minneapolis, MN (EMBC09)

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Downtown Minneapolis
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The largest Mall in the USA
File:Cimg4488.jpg
Lake Calhoun)

Japan (Icra09, Kobe)

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Kyoto - Kinkaku-Ji
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Kobe in sunlight
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... and at night

Scottsdale, AZ (Biorob08)

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Scottsdale at sunset
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The "Sun Valley" viewed from "Camel Moutain"
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The "best student" rest

California (Icra08, pasadena)

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Flock of Sealions
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Spare vehicules
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Santa Barbara

Beijing (Iros06)

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Summer Palace
File:Cimg0811.jpg
Turtle soup
File:Cimg0831.jpg
The Great Wall in Grande muraille in mist

Ontario (visit by MDRobotics september 06)

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Niagara falls
File:Cimg0624.jpg
Toronto from CN tower
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CN tower, Toronto

San Diego (Medical Imaging 05)

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Palace
File:IMG 0614.jpg
Balboa park
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Dolphins in open sea

Chicago (Cars04)

[[Image:Photo 032.jpg|thumb|left|200px |
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