Michel de Mathelin

Loïc Cuvillon, Edouard Laroche, Jacques Gangloff, Michel de Mathelin: A Mutivariable Methodology for Fast Visual Servoing of Flexible Manipulators Moving in a Restricted Workspace. Advanced Robotics 26(15): 1771-1797 (2012)

Lucile Zorn, Pierre Renaud, Bernard Bayle, Laurent Goffin, Cyrille Lebossé, Michel de Mathelin, Jack Foucher: Design and Evaluation of a Robotic System for Transcranial Magnetic Stimulation. IEEE Trans. Biomed. Engineering 59(3): 805-815 (2012)

Salih Abdelaziz, Laure Esteveny, Laurent Barbé, Pierre Renaud, Bernard Bayle, Michel de Mathelin: Development of a MR-compatible cable-driven manipulator: Design and technological issues. ICRA 2012: 1488-1494

Berengere Bardou, Florent Nageotte, Philippe Zanne, Michel de Mathelin: Improvements in the control of a flexible endoscopic system. ICRA 2012: 3725-3732

Salih Abdelaziz, Laure Esteveny, Pierre Renaud, Bernard Bayle, Laurent Barbé, Michel de Mathelin, Afshin Gangi: Design considerations for a novel MRI compatible manipulator for prostate cryoablation. Int. J. Computer Assisted Radiology and Surgery 6(6): 811-819 (2011)

Laurent Ott, Florent Nageotte, Philippe Zanne, Michel de Mathelin: Robotic Assistance to Flexible Endoscopy by Physiological-Motion Tracking. IEEE Transactions on Robotics 27(2): 346-359 (2011)

Cyrille Lebossé, Pierre Renaud, Bernard Bayle, Michel de Mathelin: Modeling and Evaluation of Low-Cost Force Sensors. IEEE Transactions on Robotics 27(4): 815-822 (2011)

Edouard Laroche, Laurent Barbé, Bernard Bayle, Michel de Mathelin: A methodology for identification of uncertain LFR model of the human operator for telemanipulation with force-feedback. CDC 2010: 2005-2010

Berengere Bardou, Philippe Zanne, Florent Nageotte, Michel de Mathelin: Control of a multiple sections flexible endoscopic system. IROS 2010: 2345-2350

Benjamin Maurin, Christophe Doignon, Michel de Mathelin, Afshin Gangi: A fast and automatic stereotactic registration with a single CT-slice. Computer Vision and Image Understanding 113(8): 878-890 (2009)

Olivier Piccin, Laurent Barbé, Bernard Bayle, Michel de Mathelin, Afshin Gangi: A Force Feedback Teleoperated Needle Insertion Device for Percutaneous Procedures. I. J. Robotic Res. 28(9): 1154-1168 (2009)

Florent Nageotte, Philippe Zanne, Christophe Doignon, Michel de Mathelin: Stitching Planning in Laparoscopic Surgery: Towards Robot-assisted Suturing. I. J. Robotic Res. 28(10): 1303-1321 (2009)

Laurent Ott, Florent Nageotte, Philippe Zanne, Michel de Mathelin: Simultaneous Physiological Motion Cancellation and Depth Adaptation in Flexible Endoscopy. IEEE Trans. Biomed. Engineering 56(9): 2322-2326 (2009)

Florent Nageotte, Laurent Ott, Philippe Zanne, Michel de Mathelin: Analysis and improvement of image-based insertion point estimation for robot-assisted minimally invasive surgery. ICRA 2009: 3470-3475

Laurent Ott, Florent Nageotte, Philippe Zanne, Michel de Mathelin: Physiological motion rejection in flexible endoscopy using visual servoing and repetitive control : Improvements on non-periodic reference tracking and non-periodic disturbance rejection. ICRA 2009: 4233-4238

Pierre Renaud, Michel de Mathelin: Kinematic analysis for a novel design of MRI-compatible torque sensor. IROS 2009: 2640-2646

Norbert Masson, Florent Nageotte, Philippe Zanne, Michel de Mathelin: In Vivo Comparison of Real-Time Tracking Algorithms for Interventional Flexible Endoscopy. ISBI 2009: 1350-1353

Christophe Doignon, Benjamin Maurin, Bernard Bayle, Michel de Mathelin: A visual 3D-tracking and positioning technique for stereotaxy with CT scanners. Robotics and Autonomous Systems 56(5): 385-395 (2008)

Benjamin Maurin, Bernard Bayle, Olivier Piccin, Jacques Gangloff, Michel de Mathelin, Christophe Doignon, Philippe Zanne, Afshin Gangi: A Patient-Mounted Robotic Platform for CT-Scan Guided Procedures. IEEE Trans. Biomed. Engineering 55(10): 2417-2425 (2008)

Laurent Ott, Philippe Zanne, Florent Nageotte, Michel de Mathelin, Jacques Gangloff: Physiological motion rejection in flexible endoscopy using visual servoing. ICRA 2008: 2928-2933

Cyrille Lebossé, Bernard Bayle, Michel de Mathelin, Pierre Renaud: Nonlinear modeling of low cost force sensors. ICRA 2008: 3437-3442

Laurent Barbé, Bernard Bayle, Edouard Laroche, Michel de Mathelin: User adapted control of force feedback teleoperators: Evaluation and robustness analysis. IROS 2008: 418-423

Laurent Barbé, Bernard Bayle, Michel de Mathelin, Afshin Gangi: In Vivo Model Estimation and Haptic Characterization of Needle Insertions. I. J. Robotic Res. 26(11-12): 1283-1301 (2007)

Laurent Barbé, Bernard Bayle, Jacques Gangloff, Michel de Mathelin, Olivier Piccin: Design and Evaluation of a Linear Haptic Device. ICRA 2007: 485-490

Frederic Bourger, Christophe Doignon, Philippe Zanne, Michel de Mathelin: A Model-free Vision-based Robot Control for Minimally Invasive Surgery using ESM Tracking and Pixels Color Selection. ICRA 2007: 3579-3584

Christophe Doignon, Michel de Mathelin: A Degenerate Conic-Based Method for a Direct Fitting and 3-D Pose of Cylinders with a Single Perspective View. ICRA 2007: 4220-4225

Christophe Doignon, Florent Nageotte, Michel de Mathelin: Segmentation and Guidance of Multiple Rigid Objects for Intra-operative Endoscopic Vision. WDV 2006: 314-327

Benjamin Maurin, Bernard Bayle, Jacques Gangloff, Philippe Zanne, Michel de Mathelin, Olivier Piccin: A Robotized Positioning Platform guided by Computed Tomography: Practical Issues and Evaluation. ICRA 2006: 251-256

Florent Nageotte, Philippe Zanne, Christophe Doignon, Michel de Mathelin: Visual Servoing-Based Endoscopic Path Following for Robot-Assisted Laparoscopic Surgery. IROS 2006: 2364-2369

Christophe Doignon, Florent Nageotte, Michel de Mathelin: The Role of Insertion Points in the Detection and Positioning of Instruments in Laparoscopy for Robotic Tasks. MICCAI (1) 2006: 527-534

Christophe Doignon, Pierre Graebling, Michel de Mathelin: Real-time segmentation of surgical instruments inside the abdominal cavity using a joint hue saturation color feature. Real-Time Imaging 11(5-6): 429-442 (2005)

Romuald Ginhoux, Jacques Gangloff, Michel de Mathelin, Luc Soler, Maria Mara Arenas Sanchez, Jacques Marescaux: Active filtering of physiological motion in robotized surgery using predictive control. IEEE Transactions on Robotics 21(1): 67-79 (2005)

Florent Nageotte, Philippe Zanne, Michel de Mathelin, Christophe Doignon: A Circular Needle Path Planning Method for Suturing in Laparoscopic Surgery. ICRA 2005: 514-519

Kanako Miura, Koichi Hashimoto, Jacques Gangloff, Michel de Mathelin: Visual Servoing without Jacobian Using Modified Simplex Optimization. ICRA 2005: 3504-3509

Loïc Cuvillon, Edouard Laroche, Jacques Gangloff, Michel de Mathelin: GPC versus H-infinity Control for Fast Visual Servoing of a Medical Manipulator including Flexibilities. ICRA 2005: 4044-4049

Loïc Cuvillon, Jacques Gangloff, Michel de Mathelin, Antonello Forgione: Toward Robotized Beating Heart TECABG: Assessment of the Heart Dynamics Using High-Speed Vision. MICCAI (2) 2005: 551-558

Alexandre Krupa, Guillaume Morel, Michel de Mathelin: Achieving high-precision laparoscopic manipulation through adaptive force control. Advanced Robotics 18(9): 905-926 (2004)

Benjamin Maurin, Olivier Piccin, Bernard Bayle, Jacques Gangloff, Michel de Mathelin, Luc Soler, Afshin Gangi: A new robotic system for CT-guided percutaneous procedures with haptic feedback. CARS 2004: 515-520

Florent Nageotte, Michel de Mathelin, Christophe Doignon, Luc Soler, Joël Leroy, Jacques Marescaux: Computer-aided suturing in laparoscopic surgery. CARS 2004: 781-786

Romuald Ginhoux, Jacques Gangloff, Michel de Mathelin, Luc Soler, Maria Mara Arenas Sanchez, Jacques Marescaux: Beating Heart Tracking in Robotic Surgery using 500 Hz Visual Servoing, Model Predictive Control and an Adaptive Observer. ICRA 2004: 274-279

Christophe Doignon, Florent Nageotte, Michel de Mathelin: Detection of grey regions in color images : application to the segmentation of a surgical instrument in robotized laparoscopy. IROS 2004: 3394-3399

Benjamin Maurin, Jacques Gangloff, Bernard Bayle, Michel de Mathelin, Olivier Piccin, Philippe Zanne, Christophe Doignon, Luc Soler, Afshin Gangi: A Parallel Robotic System with Force Sensors for Percutaneous Procedures Under CT-Guidance. MICCAI (2) 2004: 176-183

Jacques Gangloff, Michel de Mathelin: High-speed visual servoing of a 6-d.o.f. manipulator using multivariable predictive control. Advanced Robotics 17(10): 993-1021 (2003)

Alexandre Krupa, Jacques Gangloff, Christophe Doignon, Michel de Mathelin, Guillaume Morel, Joël Leroy, Luc Soler, Jacques Marescaux: Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing. IEEE Transactions on Robotics 19(5): 842-853 (2003)

Benjamin Maurin, Christophe Doignon, Michel de Mathelin, Afshin Gangi: Pose reconstruction with an uncalibrated Computed Tomography imaging device. CVPR (1) 2003: 455-460

Romuald Ginhoux, Jacques Gangloff, Michel de Mathelin, Luc Soler, Joël Leroy, Jacques Marescaux: A 500 Hz predictive visual servoing scheme to mechanically filter complex repetitive organ motions in robotized surgery. IROS 2003: 3361-3366

Romuald Ginhoux, Jacques Gangloff, Michel de Mathelin, Luc Soler, Joël Leroy, Jacques Marescaux: Model Predictive Control for Cancellation of Repetitive Organ Motions in Robotized Laparoscopic Surgery. IS4TH 2003: 353-365

Michel de Mathelin: Comments on a robust model reference adaptive control for non-minimum phase systems with unknown or time-varying delay. Automatica 38(4): 743-744 (2002)

Jacques Gangloff, Michel de Mathelin: Visual servoing of a 6-DOF manipulator for unknown 3-d profile following. IEEE Transactions on Robotics 18(4): 511-520 (2002)

Alexandre Krupa, Guillaume Morel, Michel de Mathelin: Achieving High Precision Laparoscopic Manipulation through Adaptive Force Control. ICRA 2002: 1864-1869

Alexandre Krupa, Jacques Gangloff, Michel de Mathelin, Christophe Doignon, Guillaume Morel, Luc Soler, Joël Leroy, Jacques Marescaux: Autonomous Retrieval and Positioning of Surgical Instruments in Robotized Laparoscopic Surgery using Visual Servoing and Laser Pointers. ICRA 2002: 3769-3774

Alexandre Krupa, Christophe Doignon, Jacques Gangloff, Michel de Mathelin, Guillaume Morel, Luc Soler, Joël Leroy, Moji Ghodoussi: Towards Semi-autonomy in Laparoscopic Surgery: First Live Experiments. ISER 2002: 435-444

Alexandre Krupa, Michel de Mathelin, Christophe Doignon, Jacques Gangloff, Guillaume Morel, Luc Soler, Joël Leroy, Jacques Marescaux: Automatic 3-D Positioning of Surgical Instruments during Robotized Laparoscopic Surgery Using Automatic Visual Feedback. MICCAI (1) 2002: 9-16

Alexandre Krupa, Michel de Mathelin, Christophe Doignon, Jacques Gangloff, Guillaume Morel, Luc Soler, Jacques Marescaux: Development of Semi-autonomous Control Modes in Laparoscopic Surgery Using Automatic Visual Servoing. MICCAI 2001: 1306-1307

Hansjörg G. Sage, Michel de Mathelin: Canonical H state-space parametrization. Automatica 36(7): 1049-1055 (2000)

Jacques Gangloff, Michel de Mathelin: High Speed Visual Servoing of a 6 DOF Manipulator using MIMO Predictive Control. ICRA 2000: 3751-3756

Alexandre Krupa, Christophe Doignon, Jacques Gangloff, Michel de Mathelin, Luc Soler, Guillaume Morel: Towards Semi-autonomy in Laparoscopic Surgery through Vision and Force Feedback Control. ISER 2000: 189-198

Michel de Mathelin, Rogelio Lozano: Robust adaptive identification of slowly time-varying parameters with bounded disturbances. Automatica 35(7): 1291-1305 (1999)

Jacques Gangloff, Michel de Mathelin, Gabriel Abba: Visual Servoing of a 6-DOF Manipulator for Unknown 3D Profile Following. ICRA 1999: 3236-3242

Jacques Gangloff, Michel de Mathelin, Gabriel Abba: DOF High Speed Dynamic Visual Servoing Using GPC Controllers. ICRA 1998: 2008-2013

Hansjörg G. Sage, Michel de Mathelin, Gabriel Abba, Jacques Gangloff, Eric P. Ostertag: Nonlinear optimization of robust H_∞ controllers for industrial robot manipulators. ICRA 1997: 2352-2357

Michel de Mathelin, Marc Bodson: Multivariable model reference adaptive control without constraints on the high-frequency gain matrix. Automatica 31(4): 597-604 (1995)

Michel de Mathelin, Marc Bodson: Frequency domain conditions for parameter convergence in multivariable recursive identification. Automatica 26(4): 757-767 (1990)