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Home > Thèses et HDR > Thèses en 2020

12/03/2020 - Ma. de los Angeles ALAMILLA DANIEL

by Laurent Krähenbühl - published on , updated on


  • Thursday 12 March 2020 from 09:30 to 11:30 -

    Thèse Ma. de los Angeles ALAMILLA DANIEL

    Résumé :

    Développement d’un simulateur haptique pour l’apprentissage de la ponction articulaire sous imagerie échographique / Development of a haptic simulator for practicing the intraarticular needle injection under echography
    ... détails ...

    Lieu : amphi Est, bâtiment des Humanités

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Mrs Ma. de los Angeles ALAMILLA DANIEL defends his PhD on March 12, 2020 at 09:30 AM.
Place : [INSA, building Humaintés, Amphi Est

Title: Development of a haptic simulator for practicing the intraarticular needle injection under echography

Jury :
POISSON Gérard, Laboratoire PRISME (Rapporteur)
BARTHOD Christine, Laboratoire SYMME (Rapportrice)
VIEYRES Pierre, Laboratoire PRISME
ZARA Florence, LIRIS
REDARCE Tanneguy, Laboratoire Ampère (Directeur de thèse)
MOREAU Richard, Laboratoire Ampère (co-encadrant)

Abstract :
The articular puncture is a common technique used by rheumatologists to relieve pain. The use of anatomical landmarks helps to guide the needle inside the articulation. However, without the help of imaging guidance, practitioners have difficulty to place correctly the needle and most of the cases lead to an extra articular insertion.

The intraarticular needle injection under echography is a solution to ease the procedure. It is however a challenging process since the pratitioner must develop motor-visual coordination to insert the needle and guided it using as a reference a 2D image generated by the ultrasound probe.

To master this technique, practitioners can practice on corpses, manikins, and simulators. Simulators give some advantages over corpses and manikins, but most of them do not allow to modify the working environment (patient morphology and/or pathology, …) or to choose the insertion point, which limit the realism of the training.

Under the impulsion of SAMSEI, SPARTE project aims to develop a fully functional intraarticular needle injection simulator. This project is supported by 4 laboratories and one health facility. In this PhD thesis, the main contributions are: a new low-computational cost method called “Tracking wall” coupled with virtual fixtures for position and orientation control to render forces during the needle insertion ; the study and validation of three different control laws applied on a pneumatic actuator to render the forces while using a ultrasound probe; and finally the design of a complete functional simulator where users can experiment the needle insertion with echographic guidance.

Keywords :
Haptic, Medical Simulator, Medical Robotics, Control, Stiffness control

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