MSc / PhD / PostDoc Supervision

2003-2007 PhD: ICTT@Lab: a software environment for the generation and execution of Remote Laboratory Scenarios

Student: Dr Hacen Benmohamed

French title: ICTT@Lab: un environnement informatique pour la génération et l’exécution de scénarios de téléTP

Summary (in French)
Ces travaux de thèse s'inscrivent dans le domaine de la e-formation, et concernent la conception d'un environnement générique de téléTP en sciences de l'ingénierie, accompagné d'une méthodologie de mise à distance de dispositifs technologiques. Jusqu'alors la e-formation se limitait aux domaines où l'enseignement théorique prime sur l'enseignement pratique et les manipulations. Pour faire de la e-formation un outil viable et largement utilisé, les téléTP doivent y avoir une place centrale car ils répondent à un besoin reconnu d'activités pratiques dans les disciplines scientifiques et techniques. Cette intégration doit s'accompagner des mêmes facilités d'édition, d'utilisation et de réutilisabilité que les autres contenus, plus conceptuels (téléCours, téléTD, téléProjet, ...). Dans ce contexte, nous proposons un framework, nommé ICTT@Lab (generIC framework for remoTe and virTu@l Laboratory integration), s'intégrant dans une plate-forme d'e-formation aux côtés d'un LMS compatible avec la spécification IMS-LD et fournissant les services nécessaires et spécifiques à l'édition et à la réalisation de téléTP. En se basant sur des ontologies spécifiant composants et fonctionnalités classiques d'un dispositif technologique, les auteurs de scénarios peuvent désormais éditer leurs scénarios pédagogiques au format IMS-LD et les lier à une classe de dispositifs technologiques (réels ou virtuels). Ils les rendent ainsi compatibles avec n'importe quel dispositif associé à la même classe, autorisant de fait, la réutilisation de leur production sur d'autres plates-formes de téléTP. L'ensemble de cette architecture est accompagné d'une chaîne d'édition complète dédiée au téléTP. La sécurité du dispositif (point sensible à distance) donne lieu à une analyse AMDEC et une interprétation de cet aspect dans nos modèles. Une expérimentation située dans un plan d'expériences (Tagushi) a été réalisée sur un téléTP d'automatique.

Keywords: E-Labs, Remote Laboratories, E-Learning, System Engineering, Learning Management System

Report (in French) available in PDF here

Supervised by Dr Arnaud Lelevé and Prof. Patrick Prévot.

Started in end of 2003, defended in January 2007

Communications: [LEL-02, LEL-03, BEN-04, LEL-04a, LEL-04b, BEN-05, LEL-05, BEN-06a, BEN-06b, GRA-06, COQ 07, BEN 08]

Publications: [LEL 08, COQ 08]

2007-2014 PhD: Generic Design of a e-TP configuration tool

Student: Dr Saher ARNOUS

Summary
Powered by the technological advances of the “Information and communication sciences and technologies”, the Electronic Laboratory for practical training “ELab” (also known as ELab hands-on training) became an insisting teaching mode especially in the technical and scientific disciplines. However, several ELab modes were emerged, led by the pedagogical variety in engineering sciences: virtual ELab, remote ELab, Local Elab, etc. the two last ELab modes require the use of hardware devices (pedagogical models, measuring devices, robots, etc.). Almost in most cases, those devices need to be reconfigured according to pedagogical objectives. For complex systems, like Automated Production Systems, this reconfiguration process requires technical skills which the instructor does not have systematically. This imposes that a technician should be available, or the usage of the pedagogical platform will be limited to certain number of skilled instructors.

Accordingly, this research aims to facilitate the reconfiguration process of complex systems (particularly the APS) under ELabs. For that, a first survey designated to the users of «AIP-Priméca-RAO», located at the INSA de Lyon, had specified the needs and constraints related to a platform encountering this problem. It has been found that beyond the (re)configuration, a time wasting for the users was detected due to the absence of a common tool for pedagogical resources management. This work fed the design of software tool managing an editorial chain aiming at simplifying creation, edition, assembling, organization, reuse of different resources that can be exploited in an ELab session. This tool is intended as well to improve the autonomy of the instructor during the preparation of an ELab session, by reducing the required time to configure this session. This implies to automate the reconfiguration process of an APS supporting the ELab, and publishing the pedagogical learning scenarios on a Learning Management System (LMS).

In order to validate this design, a prototype has been developed and tested on real cases ELabs.
Subsequently, this tool could be made more generic so that it can serve Elabs of different
disciplines

Keywords: E-Labs, E-Learning, System Engineering, Learning Management System, Authoring System, Automated Production System

Report (in French) available in PDF here

Supervised by Dr Arnaud Lelevé and Prof. Patrick Prévot.

Started in 2007, defended in Sept 2014

Communications: [ARN1-09a, ARN-09b, LEL-09, ARN-11, ARN-12]

2011 MSc: Sliding-Mode Control of Pneumatic Actuators for Robots and Telerobots

Title: Sliding-Mode Control of Pneumatic Actuators for Robots and Telerobots

Keywords: Haptics, Teleoperation, Pneumatics, Automatic Control

Student: Sean HODGSON

School: University of Alberta, Edmonton, Alberta, Canada

Period: Feb to July 2011

Followed by : a position in a company in Canada

2012 MSc: Control of a teleoperated haptic pneumatic interface with long hoses

Title: Control of a teleoperated haptic pneumatic interface with long hoses

Keywords: Haptics, Medical Robotics, Pneumatics, Teleoperation

Supervised with : Minh Tu PHAM

Student: Anais BRYGO

Period: Feb to July 2012

Followed by a PhD at Robotics Lab@IIT (Istituto Italiano di Tecnologia) in Gena, Italy

2012 MSc: Design and Control of a Multi-degree-of-freedom Pneumatic Robot

Title: Design and Control of a Multi-degree-of-freedom Pneumatic Robot

Keywords: Medical Robotics, Pneumatics

Student: Julio SANDOVAL

Supervised with : Minh Tu PHAM

Period: Feb to July 2012

Followed by : a position in Adeneo as Mecatronics Engineer

2013 MSc: Dual User Haptic Training System

Title: Dual User Haptic Training System

Keywords: Haptics, Hands-on Training, Simulation, , Medical Robotics

Student: Fei LIU

Period: Feb to July 2013

Financed by China Scholarship Council (CSC)

Followed by : 2013-2016 PhD: Dual-user Haptic Training System

2013-2016 PhD: Dual-user Haptic Training System

Student: Dr Fei LIU

Summary
More particularly in the medical field, gesture quality is primordial. Professionals have to follow hands-on trainings to acquire a sufficient level of skills in the call of duty. For a decade, computer based simulators have helped the learners in numerous learnings, but these simulations still have to be associated with hands-on trainings on manikins, animals or cadavers, even if they do not always provide a sufficient level of realism and they are costly in the long term. Therefore, their training period has to finish on real patients, which is risky.

Haptic simulators (furnishing an effort feeling) are becoming a more appropriated solution as they can reproduce realist efforts applied by organs onto the tools and they can provide countless prerecorded use cases. However, learning alone on a simulator is not always efficient compared to a fellowship training (or supervised training) where the instructor and the trainee manipulate together the same tools.

Thus, this study introduces an haptic system for supervised hands-on training: the instructor and the trainee interoperate through their own haptic interface. They collaborate either with a real tool dived into a real environment (the tool is handled by a robotic arm), or with a virtual tool/environment. An energetic approach, using in particular the port-Hamiltonian modelling, has been used to ensure the stability and the robustness of the system.

This system has been designed and validated experimentally on a one degree of freedom haptic interface. A comparative study with two other dual-user haptic systems (in simulation) showed the interest of this new architecture for hands-on training. In order to use this system when both users are away from each other, this study proposes some enhancements to cope with constant communication time delays, but they are not optimized yet.

Keywords: Haptics, Simulation, Fellowship Training, Hands-on Training, Dual-User System, Passivity, Comparative Study, Communication Delay, Port-Hamiltonian Modelling

Report available in PDF here

Supervised by Damien Ébérard, Tanneguy Redarce and Arnaud Lelevé

Period: started in October 2013 and defended on 09/22/2016

Financed by China Scholarship Council (CSC)

Realized after: 2013 MSc: Dual User Haptic Training System

Communications: [LIU1-15, LIU2-15, LIU-16]

2014 MSc: Integration of a pneumatic cylinder into a teleoperation chain

Title: Integration of a pneumatic cylinder into a teleoperation chain

Keywords: Haptics, Remote Echography, Medical Robotics

Student: Ibrahim ABDALLAH

Supervised with: Xavier BRUN

Period: Feb to July 2014

2015 MSc: Study and Design of an Epidural Anaesthesia Simulator

Title: Study and Design of a Epidural Anaesthesia Simulator

Keywords: Haptics, Hands-on Training, Simulation, Anaesthetics, Medical Robotics

Student: Pierre-Jean ALES-ROUX

Supervised with: Richard MOREAU

Research project: PERISIM

Period: Feb to July 2015

Financed by IDEFI SAMSEI

Communication:
Pierre-Jean Alès Roux, Nicolas Herzig, Arnaud Lelevé, Richard Moreau, Christian Bauer. 3D Haptic Rendering of Tissues for Epidural Needle Insertion using an Electro-Pneumatic 7 Degrees of Freedom Device. Oct 2016, Daejeon, South Korea. IEEE, 2016, Proc. of the IEEE International Conference on Intelligent Robots and Systems.. hal-01340723

2016 MSc: Design of Control Laws for a Bimanual Haptic Training Simulator of Epidural Needle Insertion

MSc Internship Supervision

Keywords: Haptics, Hands-on Training, Simulation, Anaesthetics, Medical Robotics

Student: Thibaut SENAC

Supervised with: Richard MOREAU

Research project: PERISIM

Period: Feb to July 2016

Financed by IDEFI SAMSEI

Communication:
Thibaut Senac, Arnaud Lelevé, Richard Moreau. Control laws for pneumatic cylinder in order to emulate the Loss Of Resistance principle. Proc. of the 20th World Congress of the International Federation of Automatic Control (IFAC, 2017), Toulouse, France. hal-01506823

2016 MSc: Haptic System Control for a Laparoscopy Simulator

Title: Haptic System Control for a Laparoscopy Simulator

Keywords: Haptics, Hands-on Training, Simulation, Laparoscopy, Medical Robotics

Student: Charles BARNOUIN

Supervised with: Richard MOREAU

Project:: LAPAROSim

Period: Feb to July 2016

Financed by IDEFI SAMSEI

Remarks: Charles has next continued with a PhD Thesis at LIRIS laboratory with Florence Zara and Fabrice Jaillet.

Communication:
Charles Barnouin, Benjamin De Witte, Richard Moreau, Arnaud Lelevé, Xavier Martin. Cost-Efficient Laparoscopic Haptic Trainer based on Affine Velocity Analysis. Surgetica 2017, Nov 2017, Strasbourg, France. 2017, hal-01563262

2016 PostDoc: Design and Realisation of a Proof of Concept Bench for Greenshield Project

Title: Design and Realization of a Proof of Concept Bench for Greenshield Project

Keywords: Robotics, Spectrometry

Student: Toufik BENTALEB

Supervised with: Bruno MASENELLI from INL lab (Lyon Institute of Nanotechnology ).

Period: July to October 2016

Financed by Green Shield Technologies (GST)

2016-2019 PhD: Design of a training simulator for epidural insertion practice

PhD supervision

Student: Thibaut SENAC

Titre français: développement d'un simulateur d'apprentissage d'un geste d'anesthésiste : la péridurale,

Keywords:: Haptics, Simulation, Hands-on Training, Pneumatic Control

Research project: PERISIM

PhD Director Laurent KRAHENBUHL (École Centrale de Lyon)
Supervisors Richard MOREAU (INSA Lyon) and Arnaud LELEVE

Period: started in September 2016, to be defended in 2019

Financed by Ecole Doctorale EEA Lyon

Summary: Context  : the training of epidural procedure requires numerous trials before being mastered: the success rate is about 80% after 90 attempts, which is not sufficient to perform the gesture on a patient. Yet, the medical students do not have so many opportunities to train on this gesture. Moreover, manikins, animals and cadavers are not sufficiently realistic to train oneself effectively.
The objective of this PhD work is to design an haptic simulator reproducing the "Loss of Resistance" (LOR) mechanism which helps the anesthetist to know whether the needle is arrived at the rigth place (i.e. epidural space) before injecting some anesthetics or realizing a biopsy.
Method : we will control simultaneously an haptic interface which will guide the needle, considering a fictive patient parameters, to reproduce the needle insertion, and also a pneumatic cylinder which will reproduce the feelings provided by the LOR syringe. Various control laws will be tested (position and stiffness backstepping, sliding mode, hybrid system, ...) in order to reproduce the real operation as faithfully as possible.

Publications:

  • Thibaut Senac, Arnaud Lelevé, Richard Moreau. Control laws for pneumatic cylinder in order to emulate the Loss Of Resistance principle. IFAC 2017 World Congress, Jul 2017, Toulouse, France. IFAC, 2017, Proc. of the 20th World Congress of the International Federation of Automatic Control. hal-01506823

2017 MSc: Robot Assisted Catheterization in Endovascular Surgery

Keywords: Endovascular Surgery, Medical Robotics

Student: Iris NAUDIN

Supervised with: Richard MOREAU

Master: Surgical Sciences

Project:: RACES

Period: 2016-2017

Remarks: Iris won the award Antonin Poncet 2016-17 for this work.

2017-2020 PhD: Collaborative Hands-on Training on haptic simulators

Student: Angel LICONA

Keywords:: Haptics, Simulation, Hands-on Training, Dual-User

Supervised with Minh Tu PHAM (director)

Period: started in January 2017, to be defended in 2020

Financed by CONACYT Mexico

Summary :
Medical staffs require continuing hands-on training on ever evolving medical methods. For instance, Minimally Invasive Surgery (MIS) procedures have brought much comfort to the patient but has complicated the task of surgeons as they now manipulate their tools through trocars by way of a 2D camera visualization.
During their education, they usually train on black boxes, cadavers or animals (when available), and more recently passive and active simulators, before training on real patients. It has been proven that computer based haptic training simulators lead to an efficient training for advanced tasks (see [Panait09]).
However, in general, the trainee is alone in front of the simulator and cannot take benefit of a supervised training. Hence, in supervised hands-on training, the trainer takes the hands of the trainee in his own hands in order to guide him and to perform difficult gestures. While the hands' motion is driven by the trainer, they both share the haptic feedback derived from the manipulated tools.
Therefore it is difficult for the trainer to dose his forces and for the trainee to feel the right level of forces to apply.
Dual-user systems permit this : each one directly manipulates a different haptic interface acting as a common fake tool while the real tool is actuated by the slave part of the system. This slave part can also be a virtual tool in a virtual environment. They have been introduced by Nudehi et al. in [Nudehi05] and some variations have been studied in [Ghorbanian13], [Khademian11] and
[Razi14]. The common concept is that the interfaces provide force feedback to both master users (trainer and trainee) according to a dominance factor (alpha in [0,1]). When alpha=1 (resp. 0), the trainer (resp. trainee) has full authority on the trainee's (resp. trainer's) device and on the slave. When 0 < alpha < 1, both users share the slave control with a dominance (over the other user) which is function of alpha. This control authority, shared between both users, is chosen according to their relative level of skills and experience. It determines the extent to which the motion of the slave tool depends on their individual commands.
For four years, the Medical Robotics team of Ampere research laboratory has focused on such dual-user simulators (see [Liu15a] and [Liu15b]). An energetic modeling approach has been successfully used to control this architecture in presence of small delays between the three devices for one degree-of-freedom.
However, to be completely useful, the manipulation must be performed with multiple degrees of freedom. Moreover, one has to take into account that communication may have limitations: low bandwidth, packet drops, disconnections, ... as the trainee and the trainer will likely be located in different locations (resp. university and hospital). At last, medical trainers would appreciate a system which enables an automatic evaluation of the quality of the trainee gestures and their evolution.

The outcomes of this PHD project will consist in developing strategies to overcome the network connection defects and provide by the way a robust architecture enabling an effective hands-on training with its automatic evaluation.
To do so, the applicant will have to enhance and extend the model of the current dual-user training system. The current passivity controller will have to be enhanced to take into account multiple degrees of freedom and some defects such as varying delays and packets drops. He/She will also apply and enhance the gesture analysis methods developed by the team [Cifuentes14] but not yet applied on such a training system. Simulations and then experimentations will have to be conducted in order to validate the stability, the transparency, the robustness and the usability by medical students.

References: