Publications
PhD Theses
2023
Analysis and correction of OCT images for the control of robotic flexible endoscopes PhD Thesis
The Strasbourg University, 2023.
Journal Articles
2022
Distortion and Instability Compensation with Deep Learning for Rotational Scanning Endoscopic Optical Coherence Tomography Journal Article
In: Medical Image Analysis, pp. 102355, 2022.
Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter Journal Article
In: IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 8853–8860, 2022.
A Spring-based Inductive Sensor for Soft and Flexible Robots Journal Article
In: IEEE Sensors Journal, pp. 1-1, 2022.
Contact Localization of Continuum and Flexible Robot Using Data-driven Approach Journal Article
In: IEEE Robotics and Automation Letters, 2022.
Design and evaluation of an MRI-ready, self-propelled needle for prostate interventions Journal Article
In: PLOS ONE, vol. 17, iss. 9, pp. e0274063, 2022, ISSN: 1932-6203.
2021
Dynamic tracking of a magnetic micro-roller using ultrasound phase analysis Journal Article
In: Scientific Reports, vol. 11, no. 1, pp. 23239, 2021, ISSN: 2045-2322.
Multi-task temporal convolutional networks for joint recognition of surgical phases and steps in gastric bypass procedures Journal Article
In: International Journal of Computer Assisted Radiology and Surgery, 2021.
Training Simulators for Gastrointestinal Endoscopy: Current and Future Perspectives Journal Article
In: Cancers, vol. 13, no. 6, pp. 1427, 2021.
Follow-The-Leader Mechanisms in Medical Devices: A Review on Scientific and Patent Literature Journal Article
In: IEEE Reviews in Biomedical Engineering, 2021.
Robust catheter tracking by fusing electromagnetic tracking, fiber bragg grating and sparse fluoroscopic images Journal Article
In: IEEE Sensors Journal, vol. 21, no. 20, pp. 23422–23434, 2021.
Fusion of Biplane Fluoroscopy with Fiber Bragg Grating for 3D Catheter Shape Reconstruction Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6505–6512, 2021.
Data Stream Stabilization for Optical Coherence Tomography Volumetric Scanning Journal Article
In: IEEE Transactions on Medical Robotics and Bionics, vol. 3, no. 4, pp. 855–865, 2021.
Colon phantoms with cancer lesions for endoscopic characterization with optical coherence tomography Journal Article
In: Biomedical optics express, vol. 12, no. 2, pp. 955–968, 2021.
A Kinematic Bottleneck Approach For Pose Regression of Flexible Surgical Instruments directly from Images Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2938–2945, 2021.
Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions Journal Article
In: Frontiers in Robotics and AI, vol. 8, 2021, ISSN: 2296-9144.
A Lumen Segmentation Method in Ureteroscopy Images based on a Deep Residual U-Net architecture Journal Article
In: pp. 9203-9210, 2021.
IVUS-Based Local Vessel Estimation for Robotic Intravascular Navigation Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8102–8109, 2021, ISSN: 2377-3766.
Using spatial-temporal ensembles of convolutional neural networks for lumen segmentation in ureteroscopy Journal Article
In: International journal of computer assisted radiology and surgery, vol. 16, no. 6, pp. 915–922, 2021.
Path planning for endovascular catheterization under curvature constraints via two-phase searching approach Journal Article
In: International Journal of Computer Assisted Radiology and Surgery, vol. 16, no. 4, pp. 619–627, 2021.
Hysteresis modeling of robotic catheters based on long short-term memory network for improved environment reconstruction Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2106–2113, 2021.
2020
Sperm Cell Driven Microrobots—Emerging Opportunities and Challenges for Biologically Inspired Robotic Design Journal Article
In: Micromachines, vol. 11, no. 4, 2020, ISSN: 2072-666X.
Inproceedings
2022
Characterization of a soft magnetic catheter controlled by a permanent magnet Inproceedings
In: ACTUATOR 2022 - International Conference and Exhibition on New Actuator Systems and Applications, pp. 1-3, VDE/VDI-Gesellschaft Mikroelektronik, Mikrosystem- und Feinwerktechnik (VDE/VDI GMM) VDE VERLAG GMBH, Mannheim, 2022.
Estimation of a Vessel Side-Branches Model for Robotic Intravascular Navigation Inproceedings
In: Proceedings of the 11th Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS), pp. 76–77, 2022.
Coordinates encoding networks: an image segmentation architecture for side-viewing catheters Inproceedings
In: Endoscopic Microscopy XVII, International Society for Optics and Photonics SPIE, 2022.
Compliant Motion Control of Robotic Catheter based on Long-Short Term Memory Network Inproceedings
In: Proc. of the 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2022.
Autonomous image guided control of endoscopic orientation for OCT scanning Inproceedings
In: Proc. of the 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2022.
One-Shot Boundary Detection Network for Multi-Modal Side-Viewing Imaging Inproceedings
In: Proceedings of the 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), pp. 78–79, 2022.
Colon lumen exploration with robotized optical coherence tomography catheter Inproceedings
In: Endoscopic Microscopy XVII, International Society for Optics and Photonics SPIE, 2022.
Multi-level-assistance Robotic Platform for Navigation in the Urinary System: Design and Preliminary Tests Inproceedings
In: Proc. of the 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2022.
Proof-of-Concept Medical Robotic Platform for Endovascular Catheterization Inproceedings
In: Proceedings of the 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), pp. 66-67, 2022.
Deep-learning-based Position Control of a Robotic Catheter under Environmental Contact Inproceedings
In: 2022 International Symposium on Medical Robotics (ISMR), pp. 1–7, IEEE 2022.
Controlling of a Micropositioning Piezoelectric Actuator using an LSTM Network for Robotic Eye Surgery Inproceedings
In: Conference on New Technologies for Computer and Robot Assisted Surgery, Location: Napoli, 2022.
Multi-level-assistance Robotic Platform for Navigation in the Urinary System: Design and Preliminary Tests Inproceedings
In: Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS), pp. 90–91, 2022.
Autonomous image guided control of endoscopic orientation for OCT scanning Inproceedings
In: Proc. of the 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2022.
Colonoscopy Navigation using End-to-End Deep Visuomotor Control: A User Study Inproceedings
In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE 2022.
Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing Inproceedings
In: The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), IEEE 2022.
2021
Design of a magnetic actuation system for a microbiota-collection ingestible capsule Inproceedings
In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 6905–6911, IEEE 2021.
Small bowel to closest human body surface distance calculation through a custom-made software using CT-based datasets Inproceedings
In: 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 2903–2909, IEEE 2021.
Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery Inproceedings
In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4025–4031, IEEE 2021.
Learning from demonstrations for autonomous soft-tissue retraction Inproceedings
In: Proc of the International Symposium on Medical Robotics (ISMR), pp. 1–7, IEEE 2021.
Towards Hierarchical Task Decomposition using Deep Reinforcement Learning for Pick and Place Subtasks Inproceedings
In: Proc. of the 20th International Conference on Advanced Robotics (ICAR), pp. 640–645, 2021.
Model-to-Image Registration via Deep Learning towards Image-Guided Endovascular Interventions Inproceedings
In: 2021 International Symposium on Medical Robotics (ISMR), pp. 1-6, 2021.
2020
Soft tissue simulation environment to learn manipulation tasks in autonomous robotic surgery Inproceedings
In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3261–3266, IEEE 2020.
Endoscopic Optical Coherence Tomography Volumetric Scanning Method with Deep Frame Stream Stabilization Inproceedings
In: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), pp. 20-21, 2020.
Endoscopic Optical Coherence Tomography Volumetric Scanning Method with Deep Frame Stream Stabilization Inproceedings
In: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), pp. 20-21, 2020.
Presentations
2022
Privacy preserving federated learning for multimodality multi-institution image segmentation Presentation
Poster presentation at the sensing and biophotonics for surgical robotics and in vivo diagnostics workshop of The Hamlyn Symposium on Medical Robotics 2022, 01.06.2022.
Simulation of Deformable Vasculature for Robot-assisted Endovascular Catheterization Presentation
01.05.2022.
Human Machine Interfaces for Robot-Assisted Colonoscopy: a Clinical Survey Presentation
Poster presentation at the 14th Hamlyn Symposium on Medical Robotics, 2022, 01.01.2022.
2021
Development of a virtual simulator for endovascular catheterization training Presentation
Poster presentation at the 13th Hamlyn Symposium on Medical Robotics, 01.01.2021.