Patrick Rougeot

Patrick Rougeot
École Nationale Supérieure de Mécanique et des Microtechniques | ENSMM · Franche-Comté Electronique Mécanique Thermique et Optique - Sciences et Technologies - AS2M

Research Engineer

About

63
Publications
11,389
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
730
Citations

Publications

Publications (63)
Article
In this paper, we propose a new type of continuum robot, referred to as a magnetic concentric tube robot (M-CTR), for performing minimally invasive surgery in narrow and difficult-to-access areas. The robot combines concentric tubes and magnetic actuation to benefit from the ‘follow the leader’ behaviour, the dexterity and stability of existing rob...
Conference Paper
Full-text available
INTRODUCTION Cholesteatoma is an accumulation of exfoliated keratin from squamous epithelium that invades the middle ear, erodes the bony structures, and causes hearing loss as well as other serious complications. The only treatment of this disease is surgical intervention. As the middle ear cavity is small and contains hidden recesses, the complet...
Article
Full-text available
This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual cholesteatoma. The proposed robotic system combines a concentric tube robot and a wrist at the distal end, actuated by a tendon. We first introduce the surgical protocol through two access points (ear canal and few millimeters...
Article
Full-text available
The development of new surfaces, highly sticky and conducting, is a great challenge in the field of microdevices fabrication, and more precisely for the 3D assembly of microcomponents. Such surfaces were prepared by electrochemical deposition of polyaniline films. The films prepared from a phosphoric acid solution were more adhesive than the ones o...
Article
Full-text available
Concentric tube robots are continuum robots particularly well-suited for minimally-invasive surgery. Their small diameter, natural free channel and snake-like shape unlock the potential for applications that require a high degree of dexterity in confined spaces. The synthesis and planning of such robots are generally based on the patient’s anatomy...
Preprint
Full-text available
Concentric tube robots are continuum robots particularly well-suited for minimally-invasive surgery. Their small diameter, natural free channel and snake-like shape unlock the potential for applications that require a high degree of dexterity in confined spaces. The synthesis and planning of such robots are generally based on the patient's anatomy...
Article
Full-text available
This paper deals with the task of autocalibration of scanning electron microscope (SEM), which is a technique allowing to compute camera motion and intrinsic parameters. In contrast to classical calibration, which implies the use of a calibration object and is known to be a tedious and rigid operation, auto- or selfcalibration is performed directly...
Article
Full-text available
Olfactory dysfunction could be an early and reliable indicator for the diagnosis of neurodegenerative disorders such as Alzheimer and Parkinson's diseases. In this paper, we compare the potential of different noninvasive medical imaging modalities (optical coherence tomography, confocal microscopy, and fluorescence endomicroscopy) to distinguish ho...
Article
Full-text available
In many cases, soft and continuum robots represent an interesting alternative to articulated robots because they have the advantages of miniaturization capability, safer interactions with humans and often simpler fabricating and integration. However, these benefits are usually considered to arise at the expense of accuracy and precision because of...
Article
Full-text available
This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) deployment for the control of concentric tube robots (CTRs). The objective is to make possible the automatic navigation of such continuum robots within an anatomical structure, by simultaneously managing both colli...
Article
Full-text available
For the last two decades, the development of conducting polymers (CP) as artificial muscles, by materials researchers and chemists, has made establishing a reliable and repeatable synthesis of such materials possible. CP-based milli-robots were mostly unknown in soft robotics, however, today, they play a vital role in robotics and smart materials f...
Conference Paper
In the growing field of origami engineering, self-folding is of a high regard. The latter is regularly used by nature as an efficient approach for autonomous growing and reorganizing. In this work, we present a self-folding approach based on Electro-Active Polymer (EAP), especially Conductive Polymers (CP). This approach proposes lightweight, compa...
Poster
Full-text available
The aim of this study is to present the new generation of micro and nano factories under vacuum in order to produce new generations of sensors by functionalizing, patterning, assembling with very high precision micro materials on top of metallic tips, or optical tips/fibers. Our nano factory called the µRobotex station consists of a Zeiss Auriga 60...
Conference Paper
Full-text available
This internationnal conference concerning french and japan and candian researchers, is abou the new technologies espécialy in clean room
Conference Paper
Full-text available
Objective: The aim of this study is to present the new generation of micro and nano factories under vacuum in order to produce new generations of sensors or tools by functionalizing, patterning, assembling with very high precision micro materials on top of metallic tips, or optical tips/fibers. Methodology: Our nano factory called the µRobotex sta...
Article
Full-text available
This paper discusses the development of a mosaicking algorithm for building large and high resolution confocal images. Due to the nature of optics and vision systems in general, there is still a dilemma between choosing a wide field-of-view (FOV) and high-resolution. The most accepted solution is to opt for a high-resolution optics and expand the F...
Article
Full-text available
In this study, the authors have demonstrated that it is possible to realize several three-dimensional (3D) micro- and nanostructures, by the fabrication of the smallest microhouse using a dual beam scanning electron microscope (SEM)/focused ion beam (FIB) Auriga 60 from Zeiss together with a six degree of freedom robot built with SmarAct components...
Article
Dexterity of robots is highly required when it comes to integration for medical applications. Major efforts have been conducted to increase the dexterity at the distal parts of medical robots. This paper reports on developments toward integrating biocompatible conducting polymers (CP) into inherently dexterous concentric tube robot paradigm. In the...
Article
Full-text available
This paper deals with the development of vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This approach has grown considerably in the recent years finding a...
Conference Paper
Full-text available
In this paper, we propose to take advantage of concentric tube robots (CTR) properties to design a robotic system for optical biopsies with fiber-based imaging modalities. Follow-the-leader (FTL) deployment, with CTR body following its tip, is being integrated as a design constraint in order to minimize the device invasiveness. A design procedure i...
Conference Paper
A novel structure of a 2 DoF telescopic soft robot using a tri-layer Polypyrrole (PPy) soft micro-actuator with deployment is presented in this paper. The kinematic model is introduced and the Position Based Visual Servo (PBVS) control with path-planning and obstacle avoidance algorithms is developed. A prototype is presented and the control scheme...
Conference Paper
Full-text available
Today, the rapid advance of additive manufacturing, namely 3D printing, gives options and capabilities to simplify the fabrication of three-dimensional complex structures. In fact, such technology brings a real rupture comparing to conventional technologies in terms of design and manufacturing. Taking those advantages, this paper presents the desig...
Conference Paper
This paper reports the synthesis of an electroactive polymer actuator in polypyrrole (PPy) on a polyvinylidene difluoride (PVDF) substrate. The technological development is detailed. This study reports our investigation on a tri-layer PPy actuator for large deformations and comparison with literature modeling. We also investigate their use towards...
Conference Paper
This paper presents the design, the static modeling and the performances simulation of a five degrees of freedom precise positioner. Based on piezoelectric stack actuators, the positioner is able to perform high resolution x-y-z linear motions and angular motions about x and about y axes. After presenting the design, the static modeling is carried...
Conference Paper
A new piezoelectric actuator with collocated sensor is designed, modeled and simulated. The structure has three piezoelectric layers where the two external layers serve for the actuation by a convenient application of electrical potentials, and the middle layer serves as the sensor. After presenting the principle of the structure, a model is develo...
Article
Optimization of surface treatment for reversible adhesion of micro-objects in liquid environment for the needs in microassembly processes is presented. A spherical borosilicate probe and planar silicon wafer substrates were modified by deposition of pH sensitive polyelectrolyte films through layer-by- layer technique. Branched polyethyleneimine (b-...
Article
This paper presents the design of a mesoscale robot for laser phonosurgery. The proposed design is situated between conventional mechanism and MEMS technology. A combination of compliant structures and innovative micro motors enables to achieve two decoupled tilting angle, a high range (up to 45°) and a precise positioning of a laser beam. The desi...
Conference Paper
Full-text available
Non-contact microrobotics is a promising way to avoid adhesion caused by the well-known scale effects. Nowadays, several non-contact micro-robots exist. Most of them are controlled by magnetic or dielectrophoresis phenomena. To complete this, we propose a method based on electrostatic force induced by chemical functionalisation of substrates. In th...
Conference Paper
Full-text available
Magnetic microrobots have a wide variety of applications in micro/nano-manipulation, micro/nano sensing and biomedical fields. Untethered magnetic microrobots are usually driven by a group of electromagnetic coils. To control the magnetic microrobots trajectory it is of utmost importance to know the magnitude of the magnetic force applied on them....
Article
Full-text available
Despite a large number of proofs of concept in nanotechnologies (e.g., nanosensors), nanoelectromechanical systems (NEMS) hardly come to the market. One of the bottlenecks is the packaging of NEMS which require handling, positioning, assembling and joining strategies in the mesoscale (from 100 nm to 10 μm, between nanoscale and microscale). It requ...
Article
Aniline and p-phenylenediamine were electrochemically oxidized in aqueous solutions by potentiodynamic deposition using cyclic voltammetry (CV) technique. Resulting polymer films electrodeposited on Si substrates were identified by infrared spectroscopy as polyaniline and poly(p-phenylenediamine) films. Cyclic voltammograms demonstrated that poly(p...
Conference Paper
Full-text available
Robotic microhandling is a promising way to assemble microcomponents in order to manufacture new generation of Hybrid Micro ElectroMechanical Systems (HMEMS). However, at the scale of several micrometers, adhesion phenomenon highly perturbs the micro-objects release and the positioning. This phenomenon is directly linked to both the object and the...
Article
Adhesion between microgripper end-effector and a nano/micro-object is a main topic for manipulation in micro- and nanoscale. Tuning this force is a great challenge. Adhesion force is directly linked to the chemical composition and the surface roughness of both, the object and the gripper. Recently, we proposed a multispheres van der Waals force mod...
Article
Full-text available
We present a new calibration model of both static distortion and projection for a scanning-electron microscope (SEM). The proposed calibration model depends continuously on the magnification factor. State-of-the-art methods have proposed models to solve the static distortion and projection model but for a discrete set of low and high magnifications...
Article
Electrochemical in situ preparation and morphological characterization of inorganic redox material-organic conducting polymer coatings as thin films on platinum electrodes are presented. Composite inorganic–organic coatings consist of Prussian blue (PB) and [poly(3,4-ethylenedioxythiophene)] (PEDOT), and PEDOT organic polymers doped with ferricyani...
Article
Full-text available
The release of object during robotic mi-cromanipulation operations stays a challenge. The ad-hesion forces have to be known to improve microma-nipulation tasks. Adhesion models build from macro-physics (continuum mechanics) or from nanophysics (atomic scale interactions) do not fit well experiments on the microscale. This is due to some phenomenon...
Article
The adhesion between a micro/nano-object and a microgripper end-effector is an important problem in micromanipulation. Canceling or reducing this force is a great challenge. This force is directly linked to the surface chemical structure of the object and the gripper. We propose to predict this force between a structuring surface and a micro-object...
Article
This paper presents electrochemical synthesis of polypyrrole films under high frequency sonication. The films are characterized in terms of adhesion and surface morphology. Comparison to classical electrosynthesized polypyrrole films is made. In particular, the use of high frequency sonication (500 kHz) during electrodeposition of polypyrrole on Si...
Article
Full-text available
It is often difficult to make a connection between the tribological properties really assessed for a single asperity and the ones which involve the whole asperities in a microcontact. We propose a new apparatus development based on passive diamagnetic levitation (PDL) that can be used to study friction in microcontact with a lower range of force th...
Article
The adhesion between a micro-object and a microgripper end-effector is an important problem in micromanipulation. Canceling or reducing this force is a great challenge. This force is directly linked to the surface chemical structure of the object and the gripper. We propose to reduce the adhesion force by using a self-assembled monolayer structurin...
Conference Paper
Full-text available
Robotic microhandling is disturbed by the adhesion phenomenon between the micro-object and the grippers. This phenomenon is directly linked to both the object and the gripper surface chemical composition. We propose to control adhesion by using chemical self-assembly monolayer (SAM) on both surfaces. Previous distance-force measurements done with A...
Conference Paper
Full-text available
Robotic microhandling is a promising way to assemble microcomponents in order to manufacture new generation of Hybrid Micro ElectroMechanical Systems (HMEMS). However, at the scale of several micrometers, adhesion phenomenon highly perturbs the micro-objects release and the positioning. This phenomenon is directly linked to both the object and the...
Article
Full-text available
At the microscale, surface forces influence the behaviour of micro-objects more than volumic forces. During micro-assembly processes, contacts occur between a microgripper and a micro-object or between a substrate and a micro-object. The pull-off force, which represents the force required to break a contact, is one of the predominant problems in mi...
Conference Paper
Full-text available
The aim of this paper is the presentation and improvement of an AFM-based system dedicated to measure adhesion forces. Because an AFM-lever presents a high linearity and a high resolution, it can be used to characterize forces that appears between two micro-objects when their relative distance is small. In this paper, an AFM is used to evaluate the...
Article
Robotic microhandling is a promising way to assemble microcomponents in order to manufacture a new generation of hybrid microelectromechanical systems. However, at the scale of several micrometers, the adhesion phenomenon highly perturbs the micro-object release and positioning. This phenomenon is directly linked to both the object and the gripper...
Article
Full-text available
The adhesion and interaction properties of functionalised surfaces (substrate or cantilever) were investigated by means of atomic force microscope (AFM)-related force measurements. The surfaces were functionalised with a polyelectrolyte - poly(allylamine hydrochloride) (PAH) - or with silanes - 3-(ethoxydimethylsilyl) propyl amine (APTES) or (3-ami...
Conference Paper
Full-text available
This paper deals with the description of a method for the measurement of friction force between a very small object (80 to 300 mum) and a support. The goal is to design a feeder based on controlled mechanical vibrations in order to drive microcomponents by breaking the friction force. The contact model is based on the Hertz theory and the Greenwood...
Article
During microscale object manipulation, contact (pull-off) forces and non-contact (capillary, van der Waals and electrostatic) forces determine the behaviour of the micro-objects rather than the inertial forces. The aim of this article is to give an experimental analysis of the physical phenomena at a microscopic scale in dry and liquid media. This...
Article
The paper presents a new robotic system for beating heart surgery. The final goal of this project is to develop a tele-operated system for the thoracoscopic treatment of patients with atrial fibrillation. The system consists of a robot that moves an innovative end-effector used to perform lines as in the Cox-Maze technique. The device is an electro...
Conference Paper
The aim of this article is to give an experimental analysis of the physical phenomena at a microscopic scale. In particular, this article presents experimental measurements based on an AFM system. These experiments show the influence of the contact forces and distance forces especially for micromanipulation applications.
Article
Concerning the teleoperation between different scale worlds, it is important to take into account the scaling effect problem in terms of manipulator precision, human sensation, environment accessibility, dexterity, etc. To consider these different problems, this paper presents the development of a new macro-micro teleoperated micromanipulator, with...
Article
This paper deals with a work in progress concerning the development of a station for micromanipulation tasks in the air (at present not in a liquid environment). A microgripper is developed, based on piezoelectric unimorphs and bimorphs. This microgripper allows to manipulate micro-objects from several microns to several hundreds of microns in diam...
Article
Full-text available
This paper presents an overview of the French research program PRONOMIA which deals with new methods for robotic micromanipu-lation and especially on submerged micromanipula-tion. During microscale object manipulation, con-tact (pull-off) forces and non-contact (capillary, van der Waals, and electrostatic) forces determine the behavior of the micro...

Network