Missions

Perform design, implementation and control of continuum robots for urology
Perform execution of hardware and software specifically developed and realize/supervise experimentations
Guarantee interaction with the project partners and follow-up

Lithiasic disease is often treated through an invasive intervention called percutaneous nephrolithotomy (PCNL), allowing to gain access directly to the kidney to extract the stones, which requires the use of straight, stiff instruments. Such procedure implies limited dexterity and access, increasing risks of bleeding and residual stones, intensified by the complex anatomy of the organ. Major scientific challenges should be addressed in order to provide an efficient and safe alternative. Indeed, continuum robots - slender systems, inherently miniaturized and deformable - are very relevant candidates for intervention assistance [1, 2, 3], as to adapt to inter-patient variability, the need to explore the kidney, and proximity to fragile tissue and vital organs. Based on an accurate modeling approach, CORNEL (Patient-Specific Continuum Robots for Assistance to PCNL) ANR project [https://anr.fr/Projet-ANR-24-CE33-4611] will develop design, perception, and control methods for continuum robots. This project considers a more general framework in fundamental research of deformable robots, evolving in a deformable environment, and interacting with deformable tissue and organs that are relatively mobile, therefore constituting a disruption of the established paradigm of standard rigid robots.

In this context and based on exhaustive clinical requirements [4], we aim to select the appropriate continuum robotic structure and to design the same to comply with such requirements in order to achieve the dexterity and reachability objectives. Furthermore, we will investigate medical image-based perception and closed-loop control. The goal is to ensure reaching the stone fragments with the robot's end-effector, while preserving the surrounding tissue and anatomy from excessive contact forces. This work will benefit from our recent advances on modeling [5, 6] and control [7, 8, 9] of different types of continuum robots.

References:
[1] J. Burgner-Kahrs, D.C. Rucker, H. Choset (2015): “Continuum Robots for Medical Applications: A Survey”. IEEE Transactions on Robotics, 31(6): 1261–1280. DOI: 10.1109/TRO.2015.2489500
[2] P.E. Dupont, N. Simaan, H. Choset, D.C. Rucker (2022): “Continuum Robots for Medical Interventions”. Proceedings of the IEEE, 11(7): 847–870. DOI: 10.1109/JPROC.2022.3141338
[3] M. T. Chikhaoui and Benoît Rosa (2022): “Modeling and control strategies for flexible devices”, Endorobotics, 1st Edition: Design, R&D and Future Trends, pp. 187-213, edited by Luigi Manfredi, Elsevier. Paperback ISBN: 9780128217504. DOI: 10.1016/B978-0-12-821750-4.00008-6
[4] N. Blanc (2023): “Urologie et robotique : place des robots à tubes concentriques dans la néphrolithotomie percutanée. Vers une robotisation du geste ?”. MD Thesis, Université Grenoble Alpes, France.
[5] M. Tummers, V. Lebastard, F. Boyer, J. Troccaz, B. Rosa, and M. T. Chikhaoui (2023): “Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives”. IEEE Transactions on Robotics, 39(3): 2360-2378. DOI: 10.1109/TRO.2023.3238171
[6] M. Tummers, F. Boyer, V. Lebastard, A. Offermann, J. Troccaz, B. Rosa, and M. T. Chikhaoui (in press): “Continuum concentric push-pull robots: a Cosserat rod model”. The International Journal of Robotics Research. DOI: 10.1177/02783649241263366
[7] G. Lapouge, P. Poignet and J. Troccaz (2021): “Towards 3D Ultrasound Guided Needle Steering Robust to Uncertainties, Noise, and Tissue Heterogeneity”. IEEE Transactions on Biomedical Engineering, 68(4): 1166-1177. DOI: 10.1109/TBME.2020.3022619.
[8] T. Alsaka, Ph. Cinquin, and M. T. Chikhaoui (2024): “Hierarchy Control of Dual-arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques”. In: Lenarčič, J., Husty, M. (eds) Advances in Robot Kinematics, pp. 140-148, Ljubljana, Slovenia. DOI: 10.1007/978-3-031-64057-5_17
[9] Q. Boyer, S. Voros, P. Roux, F. Marionnet, K. Rabenorosoa, and M. T. Chikhaoui (2024): “On High Performance Control of Concentric Tube Continuum Robots through Parsimonious Calibration”. IEEE Robotics and Automation Letters, 9(11): 9621-9628. DOI: 10.1109/LRA.2024.3455906

Activités

- Structure a scientific monitoring
- Study the scientific requirements and contribute to the definition of the specifications
- Realize the continuum robot prototype
- Implement the developed control method
- Lead the realization of the measurements, their interpretation and validation
- Present and publish the realizations

Compétences

The candidate should ideally hold a PhD (or equivalent degree) in Mechanical engineering, Mechatronics, Robotics or a similar field. Strong analytical skills, as well as previous experience with robot control are required.

Knowledge:
Robotics
Technical knowledge of engineering sciences
Programming languages (C++, Python and/or Matlab)
Oral and written presentation skills
English proficiency: B2 level

Skills:
Operational skills
Project lead
Team supervision
Meeting lead
Use of specific software of the domain

Soft skills:
Apply hygiene and security rules/recommendations
Multidisciplinary team work, interaction with GMCAO team members, interaction with clinician and industrial partners
Autonomy, taking initiatives, rigor, creativity

Contexte de travail

The research project will take place mainly in TIMC Laboratory [https://www.timc.fr/]. In the scope of such a translational research, visits and work meetings will take place with our partners of the Urology department at the University Hospital Grenoble Alpes (CHUGA) [https://www.chu-grenoble.fr/].

The host team CAMI (Computer-Assisted Medical Interventions) of TIMC Laboratory has been pioneering the development of medical devices assisting interventions for the past three decades. Added to our expertise and contributions in terms of perception, reasoning, and action, our team is closely collaborating with clinicians of CHUGA and deeply involved in clinical transfer. Added to CamiTK, a rapid prototyping toolbox for software solutions in CAMI, our team is extending such approach to continuum robotics simulators, as well as prototypes.

This work will be supervised by M. Taha Chikhaoui [https://sites.google.com/view/ctaha], Research Scientist at the National Center for Scientific Research (CNRS) and principal investigator of CORNEL project. His research is focused on continuum robots for interventional applications and based on a multidisciplinary approach including robot design, modeling, and control strategies.

Le poste se situe dans un secteur relevant de la protection du potentiel scientifique et technique (PPST), et nécessite donc, conformément à la réglementation, que votre arrivée soit autorisée par l'autorité compétente du MESR.

Contraintes et risques

The CNRS and host laboratory (TIMC) regulations define the constraints and risks.