Robot-Assisted Laparoscopic Surgery (RALS) is now prevalent in operating rooms. This
situation requires future surgeons to learn Classic Laparoscopic Surgery (CLS) and RALS …

Traditional hand-held ultrasound probe has some limitations in prostate biopsy. Improving
the localization and accuracy of ultrasound probe will increase the detection rate of prostate …

Under the background of the information and data age, intelligent technology has had a
large and profound impact on the production field of each industry, and the field of news …

Surgeons performing laparoscopic surgery experience distortion when perceiving the
stiffness of a patient's tissues. This is due to the lever effect induced by the introduction of …

In the context of keyhole surgery, and more particularly of uterine biopsy, the fine automatic
movements of a surgical instrument held by a robot with 3 active DOF's require an exact …

In minimally-invasive procedures like biopsy, the physician has to insert a needle into the
tissues of a patient to reach a target. Currently, this task is mostly performed manually and …

In the current prostate biopsy procedure, it is necessary for the doctor to hold the ultrasonic
probe during the entire process. This increases the fatigue degree of the doctor, and the …

Surgery may involve precise instrument tip positioning in a minimally invasive way. During
these operations, the instrument is inserted in the body through an orifice. The movements of …

Biopsies are the clinical standard routine for prostate cancer diagnosis. Despite a variety of
approaches exists to perform this gesture, transrectal sampling is the most widely used. This …

Le contexte de cette thèse est le développement d'outils pour améliorer la perception de la
raideur des tissus dans le cadre de la chirurgie laparoscopique assistée par …