Main information about the thesis :
Thesis start : 01/10/2013
Thesis defense date: : 29/09/2016
Title : Design of robotic assistants for MR-guided surgery
Associated laboratory: ICUBE, Strasbourg
In collaboration with the LIRMM laboratory, Montpellier.
Co-funded by the labex CAMI and the Alsace/Grand Est region.
PhD main scientific communications :
International scientific papers
- Boehler, S. Abdelaziz, M. Vedrines, P. Poignet et P. Renaud. From Modeling to Control of a Variable Stiffness Device based on a Cable-driven Tensegrity Mechanism. Mechanism and Machine Theory, vol. 107, pages 1-12, Janvier 2017.
- Boehler, I. Charpentier, M. Vedrines et P. Renaud. Definition and Computation of Tensegrity Mechanism Workspace. ASME J.Mechanisms Robotics, vol. 7, no. 4, page 044502, Avril 2015.
International conference proceedings
- Boehler, S. Abdelaziz, M. Vedrines, P. Poignet et P. Renaud. Towards the control of tensegrity mechanisms for variable stiffness applications : a case study. In EUCOMES 2016, Nantes, Septembre 2016.
- Boehler, M. Vedrines, S. Abdelaziz, P. Poignet et P. Renaud. Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design. In ICRA 2016, pages 661–667, Stockholm, Mai 2016.
- Boehler, A. Zompas, S. Abdelaziz,M. Vedrines, P. Poignet et P. Renaud. Experiments on a variable stiffness tensegrity mechanism for an MR-compatible needle holder. In CRAS 2015, Bruxelles, Septembre 2015.
- Boehler,M. Vedrines, S. Abdelaziz, P. Poignet et P. Renaud. Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms. In IDETC 2015, Boston, Août 2015.
- Boehler, M. Vedrines, S. Abdelaziz, P. Poignet et P. Renaud. Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms. In ARK 2014, Ljubljana, Juin 2014.
The thesis manuscript is downloadable here
Quentin realised a short video* presentation (in French) on his thesis (see below)