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Publications
Title : Professor
Address : 4 place Jussieu, CC 173, 75252 Paris cedex 05
Email : vitrani(at)isir.upmc.fr
Group : AGATHE (AGATHE)
Publications sorted by category - Publications sorted by date
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Publication list (65).
[2020ACTI4799] - Chalard,R. and Reversat,D. and Morel,G. and Vitrani,M.-A. (2020). Fast and accurate intracorporeal targeting through an anatomical orifice exhibiting unknown behavior..
International Conference on Robotics and Automation (ICRA). Pages 1-6.
[ PDF | BIB ]
[2019ACLI4770] - Fazel, A. and Chalard, R. and Reversat, D. and Vitrani, M.-A. (2019). 2392 ROBUST (Robotic Uterine Standardized Techniqueor): A Novel System for Uterine Biopsy.
Journal of Minimally Invasive Gynecology. Vol 26, Issue 7 Pages S163.
[ DOI | BIB ]
[2019INVI4775] - Arico, Mario and Joseph, Lucas and Da Silva, Jimmy and Avellino, Ignacio and Mago, Jesus and Gauthier, Philippe and Ferrier-Barbut, Eleonore and Morel, Guillaume and Vitrani, Marie-Aude (2019). A Surgical Cockpit for Minimally Invasive Surgery.
Hamlyn Symposium Surgical Robot Challenge 2019 - Finalists. London, UK. invited conference.
[ HTTP | BIB ]
[2019ACTI4684] - Avellino, Ignacio and Bailly, Gilles and Canlorbe, Geoffroy and Belghiti, Jérémie and Morel, Guillaume and Vitrani, Marie-Aude (2019). Impacts of Telemanipulation in Robotic Assisted Surgery.
Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. Pages Paper No.: 583. New York, NY, USA.
[ HTTP | DOI | BIB ]
[2019ACTN4697] - Tajeddine,N. and Vitrani,M.-A. and Chalard,R. (2019). Transvaginal Uterine Biopsy: Robot Comanipulation.
SURGETICA. Pages 90-93.
[ BIB ]
[2019COM4704] - Vitrani, MA. (2019). Echographie interventionnelle et Robotique.
Meet-up Carnot Interface : Innover en Santé à la vitesse de l'Ultrason. Paris, France.
[ BIB ]
[2018ACLI4563] - Chalard, R. and Reversat,D. and Morel,G. and Mozer, P. and Vitrani, M.-A. (2018). Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot. Application to prostate biopsies.
IJCARS. Vol 13 No 5 Pages 611-618. Best paper award - runner up.
[ PDF | DOI | BIB ]
[2018INVI4573] - Vitrani, M.-A. (2018). Experiential education in robotics.
European Robotics Forum ERF 2018 . Tampere, Finland. invited conference.
[ HTTP | BIB ]
[2018INVI4596] - Vitrani, MA (2018). A Surgical Cockpit to ease laparoscopic surgery.
Medical Robotics days. Brussels, Belgium.
[ BIB ]
[2018ACTI4652] - Chalard,R. and Reversat,D. and Morel,G. and Vitrani,M.-A. (2018). AUTOFocus: Reaching a target in the prostate with a 3D-ultrasound image-based control law.
The Hamlyn Symposium on medical robotics. Pages 1-3.
[ PDF | BIB ]
[2017ACLI3674] - Vitrani, M.-A. and Poquet Torterotot, C. and Morel, G. (2017). Applying virtual fixtures to the distal end of a minimally invasive surgery instrument.
IEEE Transactions on Robotics. Vol 33 No 1 Pages 114-123.
[ PDF | DOI | BIB ]
[2017COM4527] - Chalard,R. and Reversat, D. and Morel, G. and Vitrani, M.-A. (2017). Estimation of interaction matrix including anus elasticity in real time to control the probe tip in prostate biopsy..
SURGETICA. 1-3.
[ PDF | BIB ]
[2016ACLI3673] - Vitrani, M.-A. and Baumann, M. and Reversat, D. and Morel, G. and Moreau-Gaudry, A. and Mozer, (2016). Prostate biopsies assisted by comanipulated probe-holder : First in Man.
International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg. Vol 11 No 6 Pages 1153-1161 ''Bench to Bedside Award''.
[ PDF | DOI | BIB ]
[2016ACLI3675] - Vitrani, MA. and Nizard, J. and Morel, G. (2016). Monitoring the progression of the fetus during labor.
International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg. Vol 11 No Supplement 1 Pages 179.
[ BIB ]
[2016INVN4134] - Vitrani, M.-A. (2016). Table ronde .
Etats généraux de la robotique. Paris. invited conference.
[ BIB ]
[2016INVN4135] - Vitrani, M.-A. (2016). Table ronde .
2nde Matinales Santé et Numérique. Paris. invited conference.
[ BIB ]
[2016INVN4136] - Vitrani, M.-A. (2016). La robotique pour la Chirurgie.
Université d'été de la e-santé. Castres Mazamet Technopole. invited conference.
[ BIB ]
[2016THDR3717] - Vitrani, M.A. (2016). Assistance à la manipulation de sonde échographique.
. ISIR. HDR. Université Pierre et Marie Curie - ISIR.
[ HTTP | BIB ]
[2015ACLI3114] - Poquet Torterotot, C. and Mozer, P. and Vitrani, M.-A., and Morel, G. (2015). An Endorectal Ultrasound Probe Comanipulator With Hybrid Actuation Combining Brakes and Motors.
Mechatronics, IEEE/ASME Transactions on. Vol 20 No 1 Pages 186-196.
[ PDF | DOI | BIB ]
[2015ACLI3354] - Vitrani, M.A. and Troccaz, J. and Silvent, A.S. and Selmi, S.Y. and Sarrazin, J. and Reversat, D. and Promayon, E. and Poquet Torterotot, C. and Mozer, P. and Fiard, G. and Moreau-Gondry, A. and Leroy, A. and Janier, M. and Baumann, M. (2015). PROSBOT- Model and image controlled prostatic robot.
IRBM. Vol 1 Pages 1-8.
[ PDF | BIB ]
[2015ACLI3497] - Vitrani, MA. and Marx, A. and Iordache, R. and Muller, S. and Morel, G. (2015). Robot guidance of an ultrasound probe toward a 3D region of interest detected through X-ray mammography.
International Journal of Computer Assisted Radiology and Surgery, Springer Berlin Heidelberg, Springer Berlin Heidelberg, publisher. Vol 10 No 12 Pages 1893-1903.
[ PDF | HTTP | DOI | BIB ]
[2014ACTI3313] - Poquet Torterotot, C. and Vitrani, M.-A. and Mozer, P. and Morel, G. (2014). Achieving high precision in prostate biopsy thanks to robot closed loop control based on 3D ultrasound imaging.
Surgetica 2014. Pages 1-4.
[ PDF | HTTP | BIB ]
[2014ACTI3314] - Poquet torterotot, C. and Vitrani, M.-A. and Morel, G. (2014). Proximal Comanipulation of a Minimally Invasive Surgical Instrument to emulate distal forces.
Conference on Robotic Assisted Surgery (CRAS2014). Pages 48-51.
[ HTTP | BIB ]
[2014ACTI4137] - Roy, A. and Le Carrou, J.-L. and Fabre, B. and Vitrani, M.-A. (2014). Mechanical Analysis of the voicing process in the harpsichord.
International Symposium on Music Acoustics. Pages 255-260.
[ PDF | BIB ]
[2013ACTI3115] - Chadefaux, D. and Roy, A. and Le Carrou, J.-L. and Vitrani, M.-A. and Fabre, B. (2013). Bio-inspired robot to study stringed instruments: Application to the harp.
Proceedings of Stockholm Music Acoustics Conference. Pages 48-51.
[ PDF | BIB ]
[2013ACTI3117] - Poquet Torterotot, C. and Mozer, P. and Morel, G. and Vitrani, M.-A. (2013). A novel comanipulation device for assisting needle placement in ultrasound guided prostate biopsies.
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. Pages 4084-4091.
[ PDF | BIB ]
[2013ACTI3118] - Marx, A. and Vitrani, M.-A. and Muller, S. and Morel, G. (2013). Underactuated comanipulation for ultrasound breast exams.
Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE. Pages 4871-4874.
[ PDF | BIB ]
[2013ACTI3532] - Despinoy, F. and Torres, L. and Roberto, J. and Vitrani, M.-A., and Herman, B. (2013). Toward remote teleoperation with eye and hand: A first experimental study.
3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS2013). Pages 1-5.
[ PDF | BIB ]
[2012ACLI2534] - Coffin, G. and Chevreau, G. and Renard-Penna, R. and Comperat, E. and Vitrani, M.A. and Poquet Torterotot, C. and Conort, P. and Bitker, M.O. and Mozer, P. (2012). Comparison between systematic and MRI tergeted prostate biopsy for patient with no history of prostate cancer attending a first round of trans-rectal ultrasound biopsy procedure.
Journal of Endourology. Vol 11 Pages 794.
[ PDF | BIB ]
[2012COS2434] - Morel, G. and Szewczyk, J. and Vitrani, M.A. (2012). Comanipulation.
Robotique Medicale, Hermes, publisher. Pages 343-392.
[ BIB ]
[2012COS3319] - Morel, G., Szewczyk, J. and Vitrani, M.-A. (2012). Comanipulation.
Medical Robotics, Wiley, publisher. No ISBN: 978-1-84821-33
[ BIB ]
[2012ACTI3116] - Chadefaux, D. and Le Carrou, J.-L. and Vitrani, M.-A. and Billout, S. and Quartier, L. (2012). Harp plucking robotic finger.
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. Pages 4886-4891.
[ PDF | BIB ]
[2012COM3533] - Despinoy, F., and Vitrani, M.-A., and Herman, B. (2012). A step toward robot teleoperation with eyes and hand.
5th International Workshop on Human-Friendly Robotics (HFR2012). Brussels, Belgium.
[ PDF | BIB ]
[2012AP2536] - Coffin, G. and Chevreau, G. and Renart-Penna, R. and Comperat, E. and Vitrani, M.A. and Poquet Torterotot, C. and Conort, P. and Bitker, M.O. and Mozer, P. (2012). Comparison between systematic and MRI tergeted prostate biopsy for patient with no history of prostate cancer attending a first round of trans-rectal ultrasound biopsy procedure.
Congress of European Association of Urology.
[ BIB ]
[2012AP2537] - Coffin, G. and Chevreau, G. and Renart-Penna, R. and Comperat, E. and Vitrani, M.A. and Poquet Torterotot, C. and Conort, P. and Bitker, M.O. and Mozer, P. (2012). Comparison between systematic and MRI tergeted prostate biopsy for patient with no history of prostate cancer attending a first round of trans-rectal ultrasound biopsy procedure.
5th International Symposium on Focal Therapy and Imaging in Prostate and Kidney Cancer.
[ BIB ]
[2011ACLI2142] - Nizard, J. and Vitrani, M.A. and Morel, G. (2011). Variability of measurments of femur length,head circumference, and abdominal circumference using a position tracking system combined to ultrasound.
The official Journel of th International Society of Ultrasoçund in Obstétrics and Gynecology. Vol 38-1 Pages 216.
[ PDF | BIB ]
[2011ACLI2141] - Nizard, J. and Rahmoune, N. and Vitrani, M.A. and Morel, G. (2011). Inter- and intra-operator variability of angle of progression measurment on a robotized model.
The official Journel of the International Society of Ultrasound in Obstétrics and Gynecology. Vol 38-1 Pages 226.
[ PDF | BIB ]
[2011ACLI2347] - Coffin, G. and Poquet Torterotot, C. and Baumann, M. and Vitrani, M.A. and Morel, G. and Chevreau, G. and Mozer, P. (2011). TRUS prostate biopsies pierced area can impact cancer rate detection.
Journal of EndoUrology. Vol 25(9) Pages 59.
[ PDF | BIB ]
[2011ACLI2535] - Coffin, G. and Chevreau, G. and Renart-Penna, R. and Comperat, E. and Vitrani, M.A. and Poquet Torterotot, C. and Conort, P. and Bitker, M.O. and Mozer, P. (2011). Systematic prostate biopsies may detect mor insignificant cancer than MRI lesion target prostate biopsies.
Journal of Endourology. Vol 25(9) Pages 501.
[ PDF | BIB ]
[2011ACTI1916] - Marx, A. and Vitrani, M.A. and Herman, B. and Iordache, R. and Muller, S. and Morel, G. (2011). Synergic Comanipulation Despite Underactuated Robot .
IEEE ICRA'11 International Conference on Robotics and Automation. Pages 5756 - 5761 . Shanghai, China.
[ PDF | BIB ]
[2011ACTI2137] - Poquet Torterotot, C. and Vitrani, M.A. and Mozer, P. and Morel, G. (2011). Ultrasound image-based comanipulation for enhanced perception of the contacts with a distal soft organ.
Proc. of IEEE International Conference on Robotics and Biomemitics (ROBIO'11). Pages 1140-1146. Phuket Island, Thailand. Finalist ''best student paper award''.
[ PDF | BIB ]
[2011COM2562] - nizard, J. and Vitrani, M.A. and Morel, G. (2011). Variability of measurements of femur length, head circumference, and abdominal circumference using a position tracking system combined to ultrasound..
21th World Congress of Ultrasound in Obstetrics and Gynecology.. Los Angeles, Etats-Unis.
[ BIB ]
[2011COM2563] - Nizard, J. and Rahmoune, N. and Vitrani, M.A. and Morel, G. (2011). Inter- and intra-operator variability of angle of progression measurement on a robotized model.
21th World Congress of Ultrasound in Obstetrics and Gynecology.. Los Angeles, Etats-Unis.
[ BIB ]
[2011BR2345] - Poquet Torterotot, C. and Mozer, P. and Bauman, M. and Vitrani, M.A and Morel, G. and Leroy, A. and Henri, P. (2011). Dispositif de guidage d'un instrument médical inséré dans une voie naturelle ou une voie artificielle d'un patient.
. No PCT/EP2012/069236, W FR_11_58880/EP_2_760361/US_14_348323 .
[ BIB ]
[2011BR2346] - Poquet Torterotot, C. and Mozer, P. and Baumann, M. and Vitrani, M.A. and Morel, G. and Leroy, A. and Henri, P. and Coffin, G. (2011). Dispositif d'assistance au positionnement d'un instrument médical relativement à un organe interne d'un patient et procédé de commande d'un tel dispositif.
. No PCT/EP2012/074711, W FR_11_61217/EP_12_7954865/US_14_362951/JP_14_545268 .
[ BIB ]
[2011BR2560] - Marx, A. and Vitrani, M.A. and Iordach, R. and Muller, S. and Morel, G. (2011). Dispositif d'assistance à la manipulation d'un instrument.
. No FR_11_51687 FR 29722132/JP 5975676/US 2013231561/CN102652675.
[ BIB ]
[2011AP2533] - Coffin, G. and Poquet Torterotot, C. and Baumann, M. and Vitrani, M.A. and Morel, G. and Chevreau, G. and Mozer, P. (2011). Impact de la distribution des biopsies de prostate par voie endorectale sur le taux de détection de cancer dans les lobes droit et gauche.
105ème congrès de l\'Association Française d\'Urologie.
[ BIB ]
[2010ACLI1566] - Poquet Torterotot, C. and Mozer, P. and Baumann, M. and Vitrani, M.A. (2010). Analysis of prostate area sampled by TRUS prostate biopsy.
Journal of EndoUrology. Vol 24(12) Pages 2147.
[ PDF | BIB ]
[2010ACTI1522] - Poquet Torterotot, C. and Mozer, P. and Baumann, M. and Vitrani, M.A. and Morel, G. (2010). Analysis of endorectal probe kinematics during prostate biopsies.
The Hamlyn Symposium on Medical Robotics. Pages 47-48.
[ PDF | BIB ]
[2009INVI2627] - Vitrani, M.-A. and Mozer, P. and Nizard, J. and Morel, G. (2009). Ultrasound images as a reference for localization and positionning. .
ICRA'09 Int. Conf. On Robotics and Automation. Kobe, Japon. invited paper.
[ BIB ]
[2008ACTI831] - Vitrani, M.A. and Morel, G. (2008). Hand-Eye Self-Calibration of an Ultrasound Image-Based Robotic System.
IEEE/RSJ IROS'08 International Conference on Intelligent Robots and Systems. Pages 1179-1185. Nice, FRANCE.
[ PDF | BIB ]
[2007ACTI660] - Vitrani, M.A. and Mitterhofer, H. and Morel, G. and Bonnet, N. (2007). Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery.
ICRA'07 - IEEE International Conference on Robotics and Automation. Pages 3021-3027. Rome, Italie.
[ PDF | BIB ]
[2006ACLI32] - Vitrani, M.A. and Nikitckuk, J. and Morel, G. and Mavroidis, C. (2006). Torque Control of Electro-Rheological Fluidic Resistive Actuators for Haptic Vehicular Instruments Controls.
Transcation of ASME - Journal of Dynamic Systems, Measurement and Control. Vol 18 - 2 Pages 216 - 226.
[ PDF | BIB ]
[2006ACTI659] - Vitrani, M.A. and Morel, G. and Bonnet, N. and Karouia, M. (2006). A robust ultrasound-based visual servoing approach for automatic guidance of a surgical instrument with in vivo experiments.
BIOROB'06 - IEEE Int. Conf.on Biomedical Robotics and Biomechatronics. Pages 35-40. Pise, Italie.
[ PDF | BIB ]
[2006COM665] - Dombre, E. and Poignet, P. and Renaud, P. and Sauvée, M. and Triboulet, J. and Bidaud, Ph. and Morel, G. and Ortmaier, T. and Vitrani, M.A. and Rotinat-Libersa, C. and Jardin, A. and Bonnet, N. and Karouia, M. and Chavanon, O. and Daanen, V. and Troccaz, J. (2006). Projet GABIE : Guidage Actif Basé sur l'Imagerie Echographique.
Journées bilan des projets ROBEA. Paris, France.
[ BIB ]
[2006THDR174] - Vitrani, M.A. (2006). Asservissement visuel à partir d'images échographiques. Application à la chirurgie intra-cardiaque.
. ISIR. These. Université Pierre et Marie Curie, Paris 6.
[ PDF | BIB ]
[2005ACTI116] - Vitrani, M.A. and Ortmaier, T. and Morel, G. (2005). A robotic system guided by ultrasound images.
Surgetica 2005 conference. Pages 245 - 254. Chambery, France.
[ PDF | BIB ]
[2005ACTI120] - Ortmaier, T. and Vitrani, M.A. and Morel, G. and Pinault, S. (2005). Robust Real-Time Instrument Tracking in Ultrasound Images.
SPIE Medical Imaging Conference. Pages 170-177. San Diego, California, Etats-Unis.
[ BIB ]
[2005ACTI121] - Ortmaier, T. and Vitrani, M.A. and Morel, G. (2005). Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing.
BVM, Bildverarbeitung in der Medizin. Pages 232-236. Heidelberg, Allemagne.
[ BIB ]
[2005ACTI124] - Ortmaier, T. and Vitrani, M.A. and Morel, G. (2005). Robust Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing.
ICRA'05, IEEE International Conference on Robotics and Automation. Pages 2179-2184. Barcelone, Espagne.
[ PDF | BIB ]
[2005ACTI125] - Vitrani, M.A. and Morel, G. and Ortmaier, T. (2005). Automatic Guidance of a Surgical Instrument with Ultrasound Based Visual Servoing.
ICRA'05, IEEE International Conference on Robotics and Automation. Pages 510-515. Barcelone, Espagne.
[ PDF | BIB ]
[2005COM210] - Dombre, E. and Pierrot, F. and Poignet, Ph. and Renaud, P. and Sauvée, M. and Triboulet, J. and Bidaud, Ph. and Morel, G. and Ortmaier, T. and Pinault, S. and Vitrani, M.A. and Gravez, Ph. and Bonnet, N. and Karouia, M. and Chavanon, O. and Daanen, V. and Troccaz, J. (2005). Projet GABIE : Guidage Actif Basé sur l'Imagerie Échographique.
Journées CNRS ROBEA. Montpellier, France.
[ BIB ]
[2004ACTI92] - Vitrani, M.A. and Nikitczuk, J. and Morel, G. and Mavroidis, C. (2004). Torque Control of Electrorheological Fluidic Actuators for Haptic Vehicular Instrument Controls.
ICRA'04 - IEEE International conference on Robotics and Automation. Vol 1 Pages 764-769. La Nouvelle Orléans, Etats-Unis.
[ PDF | BIB ]
[2004ACTI99] - Zemiti, N. and Ortmaier, T. and Vitrani, M.A. and Morel, G. (2004). A Force Controlled Laparoscopic Surgical Robot without Distal Force Sensing.
ISER 2004; 9th International Symposium on Experimental Robotics. Pages 153-163. Singapour.
[ PDF | BIB ]
[2004ACTI103] - Vitrani, M.A. and Nikitczuk, J. and Morel, G. and Mavroidis, C. (2004). Torque Control of Electro-Rheological Fluidic Actuators.
ACC'2004 : American Control Conference. Vol 6 Pages 5072-5077. Boston Massachusetts, Etats-Unis.
[ PDF | BIB ]
2020
[2020ACTI4799] - Chalard,R. and Reversat,D. and Morel,G. and Vitrani,M.-A. (2020). Fast and accurate intracorporeal targeting through an anatomical orifice exhibiting unknown behavior..
International Conference on Robotics and Automation (ICRA). Pages 1-6.
[ PDF | BIB ]
2019
[2019ACLI4770] - Fazel, A. and Chalard, R. and Reversat, D. and Vitrani, M.-A. (2019). 2392 ROBUST (Robotic Uterine Standardized Techniqueor): A Novel System for Uterine Biopsy.
Journal of Minimally Invasive Gynecology. Vol 26, Issue 7 Pages S163.
[ DOI | BIB ]
[2019INVI4775] - Arico, Mario and Joseph, Lucas and Da Silva, Jimmy and Avellino, Ignacio and Mago, Jesus and Gauthier, Philippe and Ferrier-Barbut, Eleonore and Morel, Guillaume and Vitrani, Marie-Aude (2019). A Surgical Cockpit for Minimally Invasive Surgery.
Hamlyn Symposium Surgical Robot Challenge 2019 - Finalists. London, UK. invited conference.
[ HTTP | BIB ]
[2019ACTI4684] - Avellino, Ignacio and Bailly, Gilles and Canlorbe, Geoffroy and Belghiti, Jérémie and Morel, Guillaume and Vitrani, Marie-Aude (2019). Impacts of Telemanipulation in Robotic Assisted Surgery.
Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. Pages Paper No.: 583. New York, NY, USA.
[ HTTP | DOI | BIB ]
[2019ACTN4697] - Tajeddine,N. and Vitrani,M.-A. and Chalard,R. (2019). Transvaginal Uterine Biopsy: Robot Comanipulation.
SURGETICA. Pages 90-93.
[ BIB ]
[2019COM4704] - Vitrani, MA. (2019). Echographie interventionnelle et Robotique.
Meet-up Carnot Interface : Innover en Santé à la vitesse de l'Ultrason. Paris, France.
[ BIB ]
2018
[2018ACLI4563] - Chalard, R. and Reversat,D. and Morel,G. and Mozer, P. and Vitrani, M.-A. (2018). Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot. Application to prostate biopsies.
IJCARS. Vol 13 No 5 Pages 611-618. Best paper award - runner up.
[ PDF | DOI | BIB ]
[2018INVI4573] - Vitrani, M.-A. (2018). Experiential education in robotics.
European Robotics Forum ERF 2018 . Tampere, Finland. invited conference.
[ HTTP | BIB ]
[2018INVI4596] - Vitrani, MA (2018). A Surgical Cockpit to ease laparoscopic surgery.
Medical Robotics days. Brussels, Belgium.
[ BIB ]
[2018ACTI4652] - Chalard,R. and Reversat,D. and Morel,G. and Vitrani,M.-A. (2018). AUTOFocus: Reaching a target in the prostate with a 3D-ultrasound image-based control law.
The Hamlyn Symposium on medical robotics. Pages 1-3.
[ PDF | BIB ]
2017
[2017ACLI3674] - Vitrani, M.-A. and Poquet Torterotot, C. and Morel, G. (2017). Applying virtual fixtures to the distal end of a minimally invasive surgery instrument.
IEEE Transactions on Robotics. Vol 33 No 1 Pages 114-123.
[ PDF | DOI | BIB ]
[2017COM4527] - Chalard,R. and Reversat, D. and Morel, G. and Vitrani, M.-A. (2017). Estimation of interaction matrix including anus elasticity in real time to control the probe tip in prostate biopsy..
SURGETICA. 1-3.
[ PDF | BIB ]
2016
[2016ACLI3673] - Vitrani, M.-A. and Baumann, M. and Reversat, D. and Morel, G. and Moreau-Gaudry, A. and Mozer, (2016). Prostate biopsies assisted by comanipulated probe-holder : First in Man.
International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg. Vol 11 No 6 Pages 1153-1161 ''Bench to Bedside Award''.
[ PDF | DOI | BIB ]
[2016ACLI3675] - Vitrani, MA. and Nizard, J. and Morel, G. (2016). Monitoring the progression of the fetus during labor.
International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg. Vol 11 No Supplement 1 Pages 179.
[ BIB ]
[2016INVN4134] - Vitrani, M.-A. (2016). Table ronde .
Etats généraux de la robotique. Paris. invited conference.
[ BIB ]
[2016INVN4135] - Vitrani, M.-A. (2016). Table ronde .
2nde Matinales Santé et Numérique. Paris. invited conference.
[ BIB ]
[2016INVN4136] - Vitrani, M.-A. (2016). La robotique pour la Chirurgie.
Université d'été de la e-santé. Castres Mazamet Technopole. invited conference.
[ BIB ]
[2016THDR3717] - Vitrani, M.A. (2016). Assistance à la manipulation de sonde échographique.
. ISIR. HDR. Université Pierre et Marie Curie - ISIR.
[ HTTP | BIB ]
2015
[2015ACLI3114] - Poquet Torterotot, C. and Mozer, P. and Vitrani, M.-A., and Morel, G. (2015). An Endorectal Ultrasound Probe Comanipulator With Hybrid Actuation Combining Brakes and Motors.
Mechatronics, IEEE/ASME Transactions on. Vol 20 No 1 Pages 186-196.
[ PDF | DOI | BIB ]
[2015ACLI3354] - Vitrani, M.A. and Troccaz, J. and Silvent, A.S. and Selmi, S.Y. and Sarrazin, J. and Reversat, D. and Promayon, E. and Poquet Torterotot, C. and Mozer, P. and Fiard, G. and Moreau-Gondry, A. and Leroy, A. and Janier, M. and Baumann, M. (2015). PROSBOT- Model and image controlled prostatic robot.
IRBM. Vol 1 Pages 1-8.
[ PDF | BIB ]
[2015ACLI3497] - Vitrani, MA. and Marx, A. and Iordache, R. and Muller, S. and Morel, G. (2015). Robot guidance of an ultrasound probe toward a 3D region of interest detected through X-ray mammography.
International Journal of Computer Assisted Radiology and Surgery, Springer Berlin Heidelberg, Springer Berlin Heidelberg, publisher. Vol 10 No 12 Pages 1893-1903.
[ PDF | HTTP | DOI | BIB ]
2014
[2014ACTI3313] - Poquet Torterotot, C. and Vitrani, M.-A. and Mozer, P. and Morel, G. (2014). Achieving high precision in prostate biopsy thanks to robot closed loop control based on 3D ultrasound imaging.
Surgetica 2014. Pages 1-4.
[ PDF | HTTP | BIB ]
[2014ACTI3314] - Poquet torterotot, C. and Vitrani, M.-A. and Morel, G. (2014). Proximal Comanipulation of a Minimally Invasive Surgical Instrument to emulate distal forces.
Conference on Robotic Assisted Surgery (CRAS2014). Pages 48-51.
[ HTTP | BIB ]
[2014ACTI4137] - Roy, A. and Le Carrou, J.-L. and Fabre, B. and Vitrani, M.-A. (2014). Mechanical Analysis of the voicing process in the harpsichord.
International Symposium on Music Acoustics. Pages 255-260.
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2013
[2013ACTI3115] - Chadefaux, D. and Roy, A. and Le Carrou, J.-L. and Vitrani, M.-A. and Fabre, B. (2013). Bio-inspired robot to study stringed instruments: Application to the harp.
Proceedings of Stockholm Music Acoustics Conference. Pages 48-51.
[ PDF | BIB ]
[2013ACTI3117] - Poquet Torterotot, C. and Mozer, P. and Morel, G. and Vitrani, M.-A. (2013). A novel comanipulation device for assisting needle placement in ultrasound guided prostate biopsies.
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. Pages 4084-4091.
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[2013ACTI3118] - Marx, A. and Vitrani, M.-A. and Muller, S. and Morel, G. (2013). Underactuated comanipulation for ultrasound breast exams.
Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE. Pages 4871-4874.
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[2013ACTI3532] - Despinoy, F. and Torres, L. and Roberto, J. and Vitrani, M.-A., and Herman, B. (2013). Toward remote teleoperation with eye and hand: A first experimental study.
3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS2013). Pages 1-5.
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2012
[2012ACLI2534] - Coffin, G. and Chevreau, G. and Renard-Penna, R. and Comperat, E. and Vitrani, M.A. and Poquet Torterotot, C. and Conort, P. and Bitker, M.O. and Mozer, P. (2012). Comparison between systematic and MRI tergeted prostate biopsy for patient with no history of prostate cancer attending a first round of trans-rectal ultrasound biopsy procedure.
Journal of Endourology. Vol 11 Pages 794.
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[2012COS2434] - Morel, G. and Szewczyk, J. and Vitrani, M.A. (2012). Comanipulation.
Robotique Medicale, Hermes, publisher. Pages 343-392.
[ BIB ]
[2012COS3319] - Morel, G., Szewczyk, J. and Vitrani, M.-A. (2012). Comanipulation.
Medical Robotics, Wiley, publisher. No ISBN: 978-1-84821-33
[ BIB ]
[2012ACTI3116] - Chadefaux, D. and Le Carrou, J.-L. and Vitrani, M.-A. and Billout, S. and Quartier, L. (2012). Harp plucking robotic finger.
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. Pages 4886-4891.
[ PDF | BIB ]
[2012COM3533] - Despinoy, F., and Vitrani, M.-A., and Herman, B. (2012). A step toward robot teleoperation with eyes and hand.
5th International Workshop on Human-Friendly Robotics (HFR2012). Brussels, Belgium.
[ PDF | BIB ]
[2012AP2536] - Coffin, G. and Chevreau, G. and Renart-Penna, R. and Comperat, E. and Vitrani, M.A. and Poquet Torterotot, C. and Conort, P. and Bitker, M.O. and Mozer, P. (2012). Comparison between systematic and MRI tergeted prostate biopsy for patient with no history of prostate cancer attending a first round of trans-rectal ultrasound biopsy procedure.
Congress of European Association of Urology.
[ BIB ]
[2012AP2537] - Coffin, G. and Chevreau, G. and Renart-Penna, R. and Comperat, E. and Vitrani, M.A. and Poquet Torterotot, C. and Conort, P. and Bitker, M.O. and Mozer, P. (2012). Comparison between systematic and MRI tergeted prostate biopsy for patient with no history of prostate cancer attending a first round of trans-rectal ultrasound biopsy procedure.
5th International Symposium on Focal Therapy and Imaging in Prostate and Kidney Cancer.
[ BIB ]
2011
[2011ACLI2142] - Nizard, J. and Vitrani, M.A. and Morel, G. (2011). Variability of measurments of femur length,head circumference, and abdominal circumference using a position tracking system combined to ultrasound.
The official Journel of th International Society of Ultrasoçund in Obstétrics and Gynecology. Vol 38-1 Pages 216.
[ PDF | BIB ]
[2011ACLI2141] - Nizard, J. and Rahmoune, N. and Vitrani, M.A. and Morel, G. (2011). Inter- and intra-operator variability of angle of progression measurment on a robotized model.
The official Journel of the International Society of Ultrasound in Obstétrics and Gynecology. Vol 38-1 Pages 226.
[ PDF | BIB ]
[2011ACLI2347] - Coffin, G. and Poquet Torterotot, C. and Baumann, M. and Vitrani, M.A. and Morel, G. and Chevreau, G. and Mozer, P. (2011). TRUS prostate biopsies pierced area can impact cancer rate detection.
Journal of EndoUrology. Vol 25(9) Pages 59.
[ PDF | BIB ]
[2011ACLI2535] - Coffin, G. and Chevreau, G. and Renart-Penna, R. and Comperat, E. and Vitrani, M.A. and Poquet Torterotot, C. and Conort, P. and Bitker, M.O. and Mozer, P. (2011). Systematic prostate biopsies may detect mor insignificant cancer than MRI lesion target prostate biopsies.
Journal of Endourology. Vol 25(9) Pages 501.
[ PDF | BIB ]
[2011ACTI1916] - Marx, A. and Vitrani, M.A. and Herman, B. and Iordache, R. and Muller, S. and Morel, G. (2011). Synergic Comanipulation Despite Underactuated Robot .
IEEE ICRA'11 International Conference on Robotics and Automation. Pages 5756 - 5761 . Shanghai, China.
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[2011ACTI2137] - Poquet Torterotot, C. and Vitrani, M.A. and Mozer, P. and Morel, G. (2011). Ultrasound image-based comanipulation for enhanced perception of the contacts with a distal soft organ.
Proc. of IEEE International Conference on Robotics and Biomemitics (ROBIO'11). Pages 1140-1146. Phuket Island, Thailand. Finalist ''best student paper award''.
[ PDF | BIB ]
[2011COM2562] - nizard, J. and Vitrani, M.A. and Morel, G. (2011). Variability of measurements of femur length, head circumference, and abdominal circumference using a position tracking system combined to ultrasound..
21th World Congress of Ultrasound in Obstetrics and Gynecology.. Los Angeles, Etats-Unis.
[ BIB ]
[2011COM2563] - Nizard, J. and Rahmoune, N. and Vitrani, M.A. and Morel, G. (2011). Inter- and intra-operator variability of angle of progression measurement on a robotized model.
21th World Congress of Ultrasound in Obstetrics and Gynecology.. Los Angeles, Etats-Unis.
[ BIB ]
[2011BR2345] - Poquet Torterotot, C. and Mozer, P. and Bauman, M. and Vitrani, M.A and Morel, G. and Leroy, A. and Henri, P. (2011). Dispositif de guidage d'un instrument médical inséré dans une voie naturelle ou une voie artificielle d'un patient.
. No PCT/EP2012/069236, W FR_11_58880/EP_2_760361/US_14_348323 .
[ BIB ]
[2011BR2346] - Poquet Torterotot, C. and Mozer, P. and Baumann, M. and Vitrani, M.A. and Morel, G. and Leroy, A. and Henri, P. and Coffin, G. (2011). Dispositif d'assistance au positionnement d'un instrument médical relativement à un organe interne d'un patient et procédé de commande d'un tel dispositif.
. No PCT/EP2012/074711, W FR_11_61217/EP_12_7954865/US_14_362951/JP_14_545268 .
[ BIB ]
[2011BR2560] - Marx, A. and Vitrani, M.A. and Iordach, R. and Muller, S. and Morel, G. (2011). Dispositif d'assistance à la manipulation d'un instrument.
. No FR_11_51687 FR 29722132/JP 5975676/US 2013231561/CN102652675.
[ BIB ]
[2011AP2533] - Coffin, G. and Poquet Torterotot, C. and Baumann, M. and Vitrani, M.A. and Morel, G. and Chevreau, G. and Mozer, P. (2011). Impact de la distribution des biopsies de prostate par voie endorectale sur le taux de détection de cancer dans les lobes droit et gauche.
105ème congrès de l\'Association Française d\'Urologie.
[ BIB ]
2010
[2010ACLI1566] - Poquet Torterotot, C. and Mozer, P. and Baumann, M. and Vitrani, M.A. (2010). Analysis of prostate area sampled by TRUS prostate biopsy.
Journal of EndoUrology. Vol 24(12) Pages 2147.
[ PDF | BIB ]
[2010ACTI1522] - Poquet Torterotot, C. and Mozer, P. and Baumann, M. and Vitrani, M.A. and Morel, G. (2010). Analysis of endorectal probe kinematics during prostate biopsies.
The Hamlyn Symposium on Medical Robotics. Pages 47-48.
[ PDF | BIB ]
2009
[2009INVI2627] - Vitrani, M.-A. and Mozer, P. and Nizard, J. and Morel, G. (2009). Ultrasound images as a reference for localization and positionning. .
ICRA'09 Int. Conf. On Robotics and Automation. Kobe, Japon. invited paper.
[ BIB ]
2008
[2008ACTI831] - Vitrani, M.A. and Morel, G. (2008). Hand-Eye Self-Calibration of an Ultrasound Image-Based Robotic System.
IEEE/RSJ IROS'08 International Conference on Intelligent Robots and Systems. Pages 1179-1185. Nice, FRANCE.
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2007
[2007ACTI660] - Vitrani, M.A. and Mitterhofer, H. and Morel, G. and Bonnet, N. (2007). Robust Ultrasound-Based Visual Servoing for Beating Heart Intracardiac Surgery.
ICRA'07 - IEEE International Conference on Robotics and Automation. Pages 3021-3027. Rome, Italie.
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2006
[2006ACLI32] - Vitrani, M.A. and Nikitckuk, J. and Morel, G. and Mavroidis, C. (2006). Torque Control of Electro-Rheological Fluidic Resistive Actuators for Haptic Vehicular Instruments Controls.
Transcation of ASME - Journal of Dynamic Systems, Measurement and Control. Vol 18 - 2 Pages 216 - 226.
[ PDF | BIB ]
[2006ACTI659] - Vitrani, M.A. and Morel, G. and Bonnet, N. and Karouia, M. (2006). A robust ultrasound-based visual servoing approach for automatic guidance of a surgical instrument with in vivo experiments.
BIOROB'06 - IEEE Int. Conf.on Biomedical Robotics and Biomechatronics. Pages 35-40. Pise, Italie.
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[2006COM665] - Dombre, E. and Poignet, P. and Renaud, P. and Sauvée, M. and Triboulet, J. and Bidaud, Ph. and Morel, G. and Ortmaier, T. and Vitrani, M.A. and Rotinat-Libersa, C. and Jardin, A. and Bonnet, N. and Karouia, M. and Chavanon, O. and Daanen, V. and Troccaz, J. (2006). Projet GABIE : Guidage Actif Basé sur l'Imagerie Echographique.
Journées bilan des projets ROBEA. Paris, France.
[ BIB ]
[2006THDR174] - Vitrani, M.A. (2006). Asservissement visuel à partir d'images échographiques. Application à la chirurgie intra-cardiaque.
. ISIR. These. Université Pierre et Marie Curie, Paris 6.
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2005
[2005ACTI116] - Vitrani, M.A. and Ortmaier, T. and Morel, G. (2005). A robotic system guided by ultrasound images.
Surgetica 2005 conference. Pages 245 - 254. Chambery, France.
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[2005ACTI120] - Ortmaier, T. and Vitrani, M.A. and Morel, G. and Pinault, S. (2005). Robust Real-Time Instrument Tracking in Ultrasound Images.
SPIE Medical Imaging Conference. Pages 170-177. San Diego, California, Etats-Unis.
[ BIB ]
[2005ACTI121] - Ortmaier, T. and Vitrani, M.A. and Morel, G. (2005). Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing.
BVM, Bildverarbeitung in der Medizin. Pages 232-236. Heidelberg, Allemagne.
[ BIB ]
[2005ACTI124] - Ortmaier, T. and Vitrani, M.A. and Morel, G. (2005). Robust Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing.
ICRA'05, IEEE International Conference on Robotics and Automation. Pages 2179-2184. Barcelone, Espagne.
[ PDF | BIB ]
[2005ACTI125] - Vitrani, M.A. and Morel, G. and Ortmaier, T. (2005). Automatic Guidance of a Surgical Instrument with Ultrasound Based Visual Servoing.
ICRA'05, IEEE International Conference on Robotics and Automation. Pages 510-515. Barcelone, Espagne.
[ PDF | BIB ]
[2005COM210] - Dombre, E. and Pierrot, F. and Poignet, Ph. and Renaud, P. and Sauvée, M. and Triboulet, J. and Bidaud, Ph. and Morel, G. and Ortmaier, T. and Pinault, S. and Vitrani, M.A. and Gravez, Ph. and Bonnet, N. and Karouia, M. and Chavanon, O. and Daanen, V. and Troccaz, J. (2005). Projet GABIE : Guidage Actif Basé sur l'Imagerie Échographique.
Journées CNRS ROBEA. Montpellier, France.
[ BIB ]
2004
[2004ACTI92] - Vitrani, M.A. and Nikitczuk, J. and Morel, G. and Mavroidis, C. (2004). Torque Control of Electrorheological Fluidic Actuators for Haptic Vehicular Instrument Controls.
ICRA'04 - IEEE International conference on Robotics and Automation. Vol 1 Pages 764-769. La Nouvelle Orléans, Etats-Unis.
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[2004ACTI99] - Zemiti, N. and Ortmaier, T. and Vitrani, M.A. and Morel, G. (2004). A Force Controlled Laparoscopic Surgical Robot without Distal Force Sensing.
ISER 2004; 9th International Symposium on Experimental Robotics. Pages 153-163. Singapour.
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[2004ACTI103] - Vitrani, M.A. and Nikitczuk, J. and Morel, G. and Mavroidis, C. (2004). Torque Control of Electro-Rheological Fluidic Actuators.
ACC'2004 : American Control Conference. Vol 6 Pages 5072-5077. Boston Massachusetts, Etats-Unis.
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