Arnaud Leleve

Institut National des Sciences Appliquées de Lyon | INSA Lyon · Department of Electrical Engineering

Haptic simulation of needle insertion requires both a needle-tissue interaction model and a method to render the outputs of this model into real-time force feedback for the user. In comparison with interaction models, rendering methods in the literature have seen little development and are either oversimplified or too computationally complex. There...

Simulated surgical planning and training has been proved to be effective in enhancing the performance of surgical operations. 3D medical image modeling and visualization is therefore gaining increasing attention in the research community as the navigation using 3D DICOM data provides a more realistic planning and training environment. However, medi...

Because our civilization has relied on pesticides to fight weeds, insects, and diseases since antiquity, the use of these chemicals has become natural and exclusive. Unfortunately, the use of pesticides has progressively had alarming effects on water quality, biodiversity, and human health. This paper proposes to improve farming practices by replac...

Purpose of Review This short review updates an exhaustive one written by Correa et al. in 2019 about haptic training simulation on needle insertion in the medical field. Recent Findings Latest works refine well-known models and enhance setups and methods to facilitate generically getting experimental data. Summary We provide a complementary focus...

Background There is a general agreement upon the importance of acquiring laparoscopic skills outside the operation room through simulation-based training. However, high-fidelity simulators are cost-prohibitive and elicit a high cognitive load, while low-fidelity simulators lack effective feedback. This paper describes a low-fidelity simulator bridg...

Currently, the training in the lumbar epidural anesthesia procedure, a very common procedure, is mainly performed on patients under the supervision of experts. The reason for this situation is that the simulators that exist on the market are not realistic enough to efficiently learn this particularly haptic-sense-based gesture. To avoid this ethica...

The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with...

Background: General agreement exists upon the importance of acquiring laparoscopic skills outside the operation room. During the past two decades, simulation-based training and simulators have been more extensively used in surgeons’ training. Nevertheless learning through simulation-based systems is hindered by several flaws. High-fidelity simulato...

This paper introduces preliminary works on building an experimental end-user evaluation for dual-user haptic systems for hands-on training. Such systems bring together the advantages of haptic computer-based training systems and those of supervised training where an expert trainer actively helps in the learning process. The first results mainly per...

Immersive virtual environments combined with kinaesthetic and/or tactile haptic feedback are becoming an essential building block of simulator training in a variety of applications. This paper aims to illustrate the interest of hands-on training simulation with haptic feedback. We review the recent application domains and we expose the progress and...

There has been a great deal of research activity in computer- and robot-assisted surgeries in recent years. Some of the advances have included robotic hip surgery, image-guided endoscopic surgery, and the use of intra-operative MRI to assist in neurosurgery. However, most of the work in the literature assumes that all of the expert surgeons are phy...

Touch is one of the most important sensory inputs during the performance of surgery. However, the literature on kinesthetic and tactile feedback both called haptics in surgical training remains rudimentary. This rudimentary knowledge is partial since that haptic feedback is difficult to describe, as well as record and playback. This chapter aims at...

Mastering medical gestures, such as epidural needle insertion, requires much practice. Haptic interfaces can be efficient training solutions. Nevertheless, they must provide users with an accurate experience for an effective training. This article introduces a control framework that turns a pneumatic cylinder into a haptic interface able to simulat...

This paper introduces a dual-user training system whose design is based on an energetic approach. This kind of system is useful for supervised hands-on training where a trainer interacts with a trainee through two haptic devices, in order to practice on a manual task performed on a virtual or teleoperated robot (e.g., for an Minimally Invasive Surg...

Simulators have been traditionally used for centuries during medical training as the trainees have to improve their skills before practicing on a real patient. Nowadays mechatronic technology has open the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments...

Simulators have been traditionally used for centuries during medical gestures training. Nowadays, mechatronic technologies have opened the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments representing various kind of patient and body parts including phys...

Medical trainees are required to acquire sufficient skills before touching a real patient. Nowadays, haptic simulators provide an effective solution but they do not facilitate an active supervision by a trainer who should show the right gestures in terms of motions and forces to apply, in the simulated environment. Dual user training systems aim at...

Abstract. This paper introduces the development of exercises to be embedded in a lightweight laparoscopic haptic simulator to help surgeons starting their training to Minimal Invasive Surgery (MIS) gestures. These exercises were created by observing professionals in operation rooms and by isolating key gestures, which have been combined to create d...

This paper introduces a pneumatic haptic device to remotely control a slave ultrasound probe-holder robot. This device should orientate this probe according to the sonographer’s examination needs, while rendering the force applied by it on the patient’s body, in order to provide a realistic examination environment as in situ. Previous designs with...

This paper introduces a pneumatic haptic device to remotely control a slave ultrasound probe-holder robot. This device should orientate this probe according to the sonographer’s examination needs, while rendering the force applied by it on the patient’s body, in order to provide a realistic examination environment as in situ. Previous designs with...

This paper introduces the development of exercises to be embedded in a lightweight laparoscopic haptic simulator to help surgeons starting their training to Minimal Invasive Surgery (MIS) gestures. These exercises were created by observing professionals in operation rooms and by isolating key gestures, which have been combined to create desired tra...

A semi-autonomous robotic system dedicated to road and train bridge inspection is presented in this paper. So far, bridge inspections have been performed manually by workers who either climb and rappel or use so-called mobile negative cherry pickers or specific mobile assemblies. This is a dangerous and tedious task which must be carried out during...

Epidural anaesthesia is a medical gesture commonly performed by an anaesthesiologist. However, it remains one of the most difficult gestures to master for medical students. Given the lack of sufficiently realistic training devices available for future physicians, we propose a new haptic simulator which reproduces the haptic sensations felt by anaes...

In order to increase the realism of medical simulators, haptic interfaces could be used to simulate the patient's body behavior. It is especially interesting to reproduce the stiffness of different soft tissues with corresponding haptic behaviors. In this paper, two control laws, impedance control and back-stepping associated with a closed-loop sti...

This paper presents a shared control based dual-user teleoperation haptic training sys- tem. The main contribution is an Adaptive Authority Adjustment (AAA). The authority is detem- ined online according to the trainee’s behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing...

This paper presents a shared control based dual-user teleoperation haptic training system. The main contribution is an Adaptive Authority Adjustment (AAA). The authority is detem-ined online according to the trainee's behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing dom...

L'enseignement médical a toujours prôné la complémentarité entre enseignement théorique et enseignement pratique. Cet enseignement pratique, véritable apprentissage du geste médical se pratique encore sur des animaux, des cadavres et/ou de véritables patients. Les évolutions technologiques récentes offrent de nouveaux outils de simulation à la fois...

Activité scientifique concernant la robotique médicale au laboratoire Ampère (UMR 5005)

A pneumatic actuator with solenoid valves is a discontinuous-input system because each valve can be either in on or off state. For such an actuator, this paper proposes a sliding-mode control scheme based on an averaged continuous- input equivalent model for the open-loop system. The averaged model is obtained from the nonlinear dynamics of the ope...

A pneumatic actuator with solenoid valves is a discontinuous-input system because each valve can be either in on or off state. For such an actuator, this paper proposes a sliding- mode control scheme that is based on an averaged continuous-input model of the discontinuous-input open-loop system. The averaged model is obtained from the nonlinear dyn...

A pneumatic actuator with solenoid valves is a discontinuous-input system because each valve can be either in on or off state. For such an actuator, this paper proposes a sliding-mode control scheme based on an averaged continuous-input equivalent model for the open-loop system. The averaged model is obtained from the nonlinear dynamics of the open...

For a pneumatic teleoperation system with on/off solenoid valves, sliding mode control laws for position and force ensuring low switching (open/close) activity of the valves are developed. Since each pneumatic actuator has two pneumatic chambers with a total of four on/off valves, 16 possible combinations (‘operating modes’) for the valves’ on/off...

This paper presents the modeling of a pneumatic system devoted to a teleoperation application. The study deals with the specific problem of the additional dynamics introduced by the air hose length when the servovalves are located far from the pneumatic cylinder. The physical modeling of each component of the system leads to either a set of nonline...

Electronic Laboratories have been growing during the last decade, but till now, configuring a complex automated system shared between several institutes and used for several disciplines, is a process restricted to qualified staff. Moreover, authoring and managing lab resources (programs, learning scenarios, documentation for both instructors and tr...

For a pneumatic teleoperation system, sliding-mode control laws ensuring both transparency and low switching (open/close) activity of the valves are developed. Each pneumatic actuator has four on/off valves, thus sixteen possible combinations (“operating modes”) for the valves exist but only seven of them are both functional and unique. While previ...

Over the last 50 years, master-slave teleoperation has become a widespread and successful field of research. This discipline explores how to perform tasks using a robot on an environment with haptic feedback about robot-environment interaction being provided to the human operator. Most of the master and slave manipulators used in teleoperation are...

Endovascular surgery is becoming widely deployed for many critical procedures, replacing invasive medical operations with long recovery times. However, there are still many challenges in improving the efficiency and safety of its usage, and reducing surgery time; namely, regular exposure to radiation, manual navigation of surgical tools, lack of 3D...

In this paper, we show that the integration of a new MES within an existing manufacturing system requires to appeal to a method enabling the modeling of interactions between hardware and software components, the model-ing of their behavior and their use by production staff. We show how SysML is a language fitting this need and we illustrate this di...

Etat de l’art sur la robots utilisant les réseaux de communication

Cet article présente l'avancement d'une recherche visant à proposer un logiciel de configuration d'un Système Automatisé de Production en fonction d'objectifs pédagogiques. Ce type de logiciel trouve son utilité à la fois dans un cadre industriel quand il s'agit de former le personnel à l'usage d'un nouveau SAP, et dans un cadre universitaire lorsq...

In the context of E-Learning, remote hands-on training has become an insisting need as in traditional learning, especially in scientific and technical disciplines. Electronic Laboratories (ELabs) have been growing for the last few years. But till now, exchanging learning scenarios of ELabs is still difficult as existing scenarios (elaborated by mea...

For a few years, Electronic Laboratories (ELabs: computer-aided local laboratories as much as distant and virtual ones) have been growing in the E-Learning panorama. Meanwhile, in major E-Learning activities, learning scenarios are nowadays written in a standard way (SCORM, IMS-LD) to be used by standard Learning Management Systems. The use of such...

Dans le contexte du ELearning, les travaux pratiques à distance (téléTPs) sont de­ venus indispensables, comme en formation traditionnelle, ceci notamment dans les disci­ plines techniques et scientifiques. Le LIESP a débuté en 2002 une recherche visant à fournir une architecture ouvrant la voie aux échanges de scénarios pédagogiques de téléTPs lo...

Les enjeux économiques pour les constructeurs de machines (OEM : Original Equipment Manufacturer) reposent sur leur capacité à diminuer les délais de conception, notamment en favorisant la réutilisabilité de leurs développements et en capitalisant les savoir-faire. A la différence des grands groupes qui intègrent des bureaux d'études d'automatisme,...

During last decade, Internet and related webtechnology development enabled the arising of e-learningservices and made distant learning a reality. As traditionalface to face classroom became virtual classroom throughInternet, traditional laboratories found their image inElectronic Laboratories (ELABs). These ones enablelearners to train themselves o...

A l'instar des travaux pratiques classiques, les travaux pratiques à distance (télé-TP) sont indispensables aux environnements de téléformation, notamment dans les disciplines scientifiques et techniques. De nombreux travaux scientifiques se concentrent principalement sur la téléopération d'un dispositif pédagogique spécifique. Nous avons donc prop...

During last decade, Internet and related web technologies development enabled the arising of e-learning services and made distant learning a reality. As traditional face to face classroom became virtual classroom through Internet, traditional laboratories found their equivalent in e-Laboratories. These e-Labs enable learners to train on remote real...

In this paper, we discuss the leap distance learning has to make in the near future. We take it for granted that students need hands-on approaches in addition to annotated lectures and simulations in the distance learning process. For now, distance learning relies mostly on "top-bottom" teaching methods such as streaming lectures, but also on pract...

During last decade, Internet and related web technologies development enabled the arising of e-learning services and made distant learning a reality. As traditional face to face classroom became virtual classroom through Internet, traditional laboratories found their equivalent in e-Laboratories. These e-Labs enable learners to train on remote real...

Objectifs : Présenter comment les composants pédagogiques sont couplés à des simulations

Similar to classical in-situ laboratories, remote laboratories are necessary in e-learning environments, especially in scientific and technical disciplines. This paper outlines our current research on this particular way of learning. Our research objectives consist in proposing a generic framework (independent of educational content) to allow, in o...

A l’instar des travaux pratiques classiques, les travaux pratiques à distance ou simplement télé-TPs sont indispensables aux environnements de télé-formation, notamment dans les disciplines scientifiques et techniques. Les solutions actuelles se concentrent principalement sur la téléopération d’une maquette pédagogique spécifique. Cet article a pou...

E-Laboratories are important components of modern e-learning environments, specially in scientific and technical disciplines. Out of E-Laboratories, Remote Laboratories enable learners to train on remote real systems. Such systems are generally used by only one learner at a time but they would gain by being shared between several learners during a...

E-Laboratories development appears to be more complex than other e-learning contexts such as online courses, virtual classrooms, e-projects, role-playing, etc. However, this kind of training is essential for scientific and technical disciplines and fits a real need. Recently we initiated a project [A. Leleve et al., (2003)] whose main goal is to bu...

As E-Learning is currently developing worldwide and offering a growing range of e-training vectors such as multicast course, virtual classroom, ... and other theoretical medias, electronic laboratory seems to have a less fast development. However, neither technical nor scientific education could be given without practical experimentation. This pape...

This paper proposes a solution to control a remote manipulator robot (PUMA560) using IP network. A method is described to control this remote manipulator based on High-Order Sliding Mode so as obtain a product time delay bandwidth constant. Since previous method supposes a constant transmission delay, we put it over a low level mechanism (Network D...

N/A

Remote laboratories are essential to e -learning platforms in scientific and technical disciplines. However they present a delay in their development in comparison with other (less complex) e -learning contexts such as virtual classrooms, e-projects, … We are focusing on this particular training activity with the aim of giving means to instructors...

Les travaux pratiques à distance (téléTPs) sont un vecteur pédagogique indispensable aux environnements de téléformation et plus particulièrement dans les disciplines scientifiques et techniques. Il y a quatre ans, au colloque TICE 2002 nous avons présenté nos premiers pas pour la modélisation de ces téléTPs. Cette modélisation s'est concrétisée de...

Les technologies liées à l'Internet sont désormais assez évoluées pour permettre aux établissements des formations en ligne complètes, ainsi les travaux de recherche concernant les environnement d'apprentissage à distance (EAD) foisonnent mais le concept d'« enseignement pratique à distance » semble relativement sous-développé. Pourtant ce type d'e...

Long distance teleoperation over asynchronous transmission links makes many classical teleoperation schemes unstable. The use of this kind of media involves varying transmission delays that may become prohibitive even at short distance. However, they are standardized, cheap and widespread over the planet. The paper presents our latest works on the...

Recent progress in computer engineering now permits someone to realize teleoperations through computer networks. For instance, Internet has been used for a few years in the frame of long distance teleoperations. It has the definite advantage of being widespread, accessible, reliable and economical. The goal of this work is to set up a long distance...