|
Objectives |
Hippocrate: a robot to manipulate ultrasonic probes on patient' skin. It is used to measure continuous blood pressure, evaluate arterial distensibility, to reconstruct the 3-D profiles of carotid and femoral arteries and to quantify the volume of the atheromatous plaques obstructing them. |
|
Related project(s) |
|
|
Robotic system(s) |
Hippocrate is an intrinsically safe, 6-dof, force controlled dedicated robot. Currently, it exists a single prototype. |
|
Methodologies |
Clinical trials are currently run on 130 patients in Hôpital Broussais in the frame of a 2-year program |
|
Involved users (number and category) |
1 |
|
Clinical partners |
Centre de
Médecine Préventive Cardio-Vasculaire, Hôpital Broussais |
|
Time schedule |
1999-2001 |
|
Other relevant information |
Partners of the Hippocrate project: LIRMM,
Montpellier EDF (Electricité
de France), Chatou SINTERS, Toulouse |
|
Electronic laboratory |
|
|
Mechanical laboratory |
|
|
Software laboratory |
|
|
Robotic equipment |
A 7-dof PA-10 industrial robot from Mitsubishi for feasability studies (LIRMM), Force torque sensors, PC-based open controller running under QNX |
|
Other |
|
§
X. THEROND, E. DOMBRE, F. PIERROT :
"Arteries diseases detection : a cooperative robot solution", Proc. Int. Conf. on Advanced Robotics, '95
ICAR, San Feliu de Guixols, Spain, 20-22 septembre 1995, pp. 43-49.
§
E. DOMBRE, X. THEROND, E. DEGOULANGE, F.
PIERROT : "Robot-assisted detection of atheromatous plaques in
arteries", Proc. IARP -
International Workshop on Medical Robots, Vienna, Austria, 1-2 octobre
1996, pp. 133-140.
§
E. DEGOULANGE, L. URBAIN, P. CARON, S. BOUDET,
J. GARIEPY, J.-L. MEGNIEN, F. PIERROT, E. DOMBRE : "HIPPOCRATE: an
intrinsically safe robot for medical applications", Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'98,
Victoria, B.C., Canada, 13-17 oct. 1998, pp. 959-964.
§ F. PIERROT, E. DOMBRE, E. DEGOULANGE, L. URBAIN, P. CARON, S. BOUDET, J.
GARIEPY, J.-L. MEGNIEN : " Hippocrate: a safe robot arm for medical
applications with force feedback", Medical
Image Analysis (MedIA), Special Issue on Medical Robotics and ComputerAssisted
Surgery, Vol. 3(3), pp. 285-300, 1999.
|
Objectives |
SCALPP, a robot to harvest skin for grafting purpose in reconstructive surgery |
|
Related project(s) |
|
|
Robotic system(s) |
SCALPP, an intrinsically safe, 6-dof, force controlled dedicated robot. It has a Scara-type structure and a singularity-free wrist. Currently, it exists a single prototype |
|
Methodologies |
Experimental trials are planned on pigs in 2001, on human cadavers prior to human in 2002 |
|
Involved users (number and category) |
1 |
|
Clinical partners |
Service de
Brûlés, Hôpital Lapeyronie, Montpellier |
|
Time schedule |
2001-2002 |
|
Other relevant information |
Partners of the SCALPP project: LIRMM,
Montpellier SINTERS, Toulouse |
|
Electronic laboratory |
|
|
Mechanical laboratory |
|
|
Software laboratory |
|
|
Robotic equipment |
A 7-dof PA-10 industrial robot from Mitsubishi for feasability studies (LIRMM), Force torque sensors, PC-based open controller running under QNX |
|
Other |
|
§
F. PIERROT, E. DOMBRE, L. TEOT, E. DEGOULANGE,
"Robotized reconstructive surgery: ongoing study and first results", Proc. Int. Conf. on Robotics and Automation,
ICRA'2000, San Francisco, April 24-28, 2000, pp. 1615-1620.
§ G. DUCHEMIN, E. DOMBRE., F. PIERROT, E. DEGOULANGE, "SCALPP: a
6-dof robot with a non-spherical wrist for surgical applications", 7th Int. Symp. on Advances in
Robot Kinematics, ARK 2000, Slovenia, June 26-30, 2000, pp. 165-174.