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Project Name and Acronym |
PADyC Passive Arm with Dynamic Constraints |
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Duration |
|
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Web site |
http://www-timc.imag.fr/gmcao |
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Sponsoring promoter |
|
|
Funding programme |
Internal resources |
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Keywords |
Synergy, safety, man/machine cooperation |
|
Co-ordinating group |
TIMC - Computer Assisted
Medical Interventions Group |
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Partners (group name, category*) |
Sinters (robotic industry) CLIPS (laboratory - group on man-machine interfaces) |
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Objectives |
Design, develop and validate a robot for cooperation in surgical applications |
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Relevant activities |
Design of specific joints (two patents from the university) Software development and configuration space computation User interaction |
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Achieved biomedical robotic prototypes/ products |
3 dof laboratory demonstrated prototype 6 dof prototype - validation to be performed |
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User/clinical trials |
|
|
objectives |
Demonstrate the ability to help the surgeon using PADyC technology |
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robotic systems |
6 dof prototype |
|
methodologies |
Tests on phantoms then animals before humans |
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involved users (number and category) |
Cooperation for specifications with several surgeons (ENT, orthopaedic, cranio-facial, cardiac) Tests of the system for a cardiac surgery application (pericardial puncture) |
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main results |
In progress |
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clinical partners |
Grenoble University Hospital |
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other relevant information |
|
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Project Name and Acronym |
TER
(Télé-échographie Robotisée) |
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Duration |
2 years |
|
Web site |
Not yet available |
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Sponsoring promoter |
French government |
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Funding programme |
Research and technology for health care |
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Keywords |
Compliant robot,
tele-diagnosis, tele-echography |
|
Co-ordinating group |
Sinters Company -
Toulouse - France |
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Partners (group name, category*) |
TIMC laboratory (research) - Grenoble LVR Laboratory (research) - Bourges France Telecom R&D (Industry) - Grenoble PRAXIM (Inudstry) - Grenoble Grenoble university hospital Tours Hospital |
|
Objectives |
Develop and demonstrate a robot for tele-echography. |
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Relevant
activities |
Mechanical design Robot control and programming Tele-communications Man-machine interface |
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Achieved biomedical robotic prototypes/ products |
Prototype system |
|
User/clinical trials |
|
|
objectives |
Demonstrate robotic tele-echography |
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robotic systems |
|
|
methodologies |
|
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involved users (number and category) |
Radiologists and gynecologists |
|
main results |
In progress |
|
clinical partners |
2 hospitals |
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other relevant information |
|
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Name |
Short description° |
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PADyC robot |
6 dof prototype for surgical assistance |
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TER robot |
6 dof prototype for tele-echography |
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|
|
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Group name |
Category* |
Contacts |
|
Sinters |
Industry |
Olivier Merigeaux |
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PRAXIM |
Industry |
Stéphane Lavallée |
|
France telecom R&D |
Industry |
|
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Grenoble hospital |
Clinical |
|
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Electronic laboratory |
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Mechanical laboratory |
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Software laboratory |
PC platforms, Visual C++, C, QNX, RTX and Unix workstations |
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Robotic equipment |
Prototypes cf. supra Puma 260 Articulated passive arm |
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Other |
|
O. Schneider, J. Troccaz, O. Chavanon, D. Blin
PADyC : a synergistic robot for cardiac puncturing
IEEE Conference on Robotics and Automation, San
Francisco, 2000
J. Troccaz, M. Peshkin, and B. Davies.
Guiding systems for Computer-assisted Surgery (CAS) : introducing
synergistic devices and discussing the different approaches.
Medical Image Analysis, 2(2), pp101-119, 1998.
J. Troccaz and Y. Delnondedieu.
Semi-active guiding systems in surgery. A two-dof prototype of the
passive arm with dynamic constraints (PADyC).
Mechatronics,
6(4):399--421, June 1996.