Institut des Systèmes Intelligents
et de Robotique

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Sorbonne Universite

CNRS

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Tremplin CARNOT Interfaces

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Publications

morel Guillaume
Title : Professor
Address : 4 place Jussieu, CC 173, 75252 Paris cedex 05
Phone : +33 (0) 1 44 27 51 83
Email : morel(at)isir.upmc.fr
Group : AGATHE (AGATHE)

Publications sorted by category - Publications sorted by date

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Publication list (173).

2019

[2019INVN4712] - Morel, G and Jarrasse, N (2019). Interface cerveau-machine: décrypter et utiliser le code neuronal..
Académie des technologies. Paris, France. invited conference.
[ 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 tbd. New York, NY, USA.
[ HTTP | DOI | BIB ]

[2019ACTI4707] - Legrand, M and de Montalivet, E and Richer, F and Jarrasse, N and Morel, G (2019). Reciprocal Kinematic Control: Using Human-Robot Dual Adaptation to Control Upper Limb Assistive Devices.
Proceedings of the Hamlyn Symposium on Medical Robotics . Pages xx.
[ 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 ]

[2018ACLI4598] - Joseph, Lucas and Padois, Vincent and Morel, Guillaume (2018). Towards X-ray medical imaging with robots in the open: safety without compromising performances.
IEEE ICRA International Conference on Robotics and Automation. Vol 1 Pages 6604-6610.
[ BIB ]

[2018ACLI4675] - Joseph, L and Padois, V. and Morel, G. (2018). Experimental validation of an energy constraint for a safer collaboration with robots.
International Symposium on Experimental Robotics. to appear.
[ BIB ]

[2018ACTI4642] - De La Cruz, O. and Gosselin, F. and Bachta, W. and Morel, G. (2018). Contribution to the Design of a 6 DoF Contactless Sensor Intended for Intermittent Contact Haptic Interfaces.
IEEE International Conference on Advanced Robotics and Mechatronics. Pages 6 pages.
[ 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.
[ HTTP | DOI | BIB ]

[2017ACTI3889] - Proietti, T. and Morel, G. and Roby-Brami, A. and Jarrasse, N. (2017). Comparison of different error signals driving the adaptation in assist-as-needed controllers for neurorehabilitation with an upper-limb robotic exoskeleton.
in proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE, publisher. Pages -.
[ PDF | BIB ]

[2017ACTI4556] - De La Cruz, O. and Bachta, W. and Gosselin, F. and Morel, G. (2017). A New Control Strategy for the Improvement of Contact Rendering with Encounter-type Haptic Displays.
In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017). Vol 2 Pages 471-480.
[ PDF | 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 ]

[2016ACLI4138] - Moricot, Caroline and Pouchelle, Marie-Christine and Morel, Guillaume (2016). Robotologues et anthropoticiens ? Regards croisés sur un terrain pluriel.
ethnographies.org. Vol 32 No 32 Pages xx.
[ HTTP | BIB ]

[2016ACLI4223] - Bensignor, T. and Morel, G. and Reversat, D. and Fuks, D. and Gayet, B. (2016). Evaluation of the effect of a laparoscopic robotized needle holder on ergonomics and skills.
Surgical endoscopy. Vol 30 No 2 Pages 446--454. Journal article. 6 cites: https://scholar.google.com/scholar?oibibs&hlen&cites6135800513459637585.
[ BIB ]

[2016ACTI3658] - Dong, L. and Morel, G. (2016). Robust trocar detection and localization during robot-assisted endoscopic surgery.
2016 IEEE International Conference on Robotics and Automation (ICRA) . Pages 6.
[ PDF | 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 ]

[2015ACLI3395] - Jarrasse, N. and Maestrutti, M. and Morel, G. and Roby-Brami, A. (2015). Robotic prosthetics: beyond the technical performance. (A study of socio-anthropological and cultural phenomena influencing the appropriation of technical objects interacting with the body).
IEEE Technology and Society Magazine. Vol 34 No 3 Pages 69-77.
[ PDF | HTTP | 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 ]

[2015INVI3953] - Roby-Brami, A and Jarrasse, N. and Proietti, T. and Robertson J.V.G. and Crocher, V. and Morel, G. (2015). Use of shoulder elbow synergies for the control of a rehabilitation exoskeleton. .
Brain Awareness week, Human-Machine Interface from Student-to-Student Interface HMI from SSI, . University of Belgrade, School of Electrical Engineering.. invited conference.
[ BIB ]

[2015ACTI3403] - Proietti, T. and Jarrasse, N. and Roby-Brami, A. and Morel, G. (2015). Adaptive control of a robotic exoskeleton for neurorehabilitation.
in proceedings of the International IEEE/EMBS Conference on Neural Engineering (NER), IEEE, publisher. Vol 1 Pages 803-806.
[ PDF | HTTP | DOI | BIB ]

2014

[2014ACLI3231] - Jarrasse, N. and Proietti, T. and Crocher, V. and Robertson, J. and Sahbani, A. and Morel, G. and Roby-Brami, A. (2014). Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients.
Frontiers in Human Neuroscience. Vol 8:947 Pages 1.
[ PDF | HTTP | DOI | BIB ]

[2014ACLI3086] - Verité, F. and Bachta, W. and Morel, G. (2014). Closed Loop Kinesthetic Feedback for Postural Control Rehabilitation.
IEEE Transactions on Haptics. Vol 7 No 2 Pages 150-160.
[ BIB ]

[2014ACLI4245] - Erden, MS. and Rosa, B. and Boularot, N. and Gayet, B. and Morel, G. and Szewczyk, J. (2014). Conic-spiraleur: A miniature distal scanner for confocal microlaparoscope.
IEEE/ASME Transactions on Mechatronics. Vol 19 No 6 Pages 1786--1798. Journal article. 5 cites: https://scholar.google.com/scholar?oibibs&hlen&cites7217404410136518564.
[ BIB ]

[2014ASL3145] - Jarrasse, N and Saint-Bauzel, L and Roby-Brami, A and Morel, G (2014). Les exosquelettes robotisés : réalités et perspectives..
Académie de Chirurgie Magazine. Vol 13 Pages 6-9.
[ HTTP | BIB ]

[2014INVN3318] - Morel, G. (2014). Robotique en chirurgie. Nouveaux développements. pour quoi faire?.
Congrés de la Société Française de Chirurgie Orthopédique (SOFCOT). Paris. invited conference.
[ BIB ]

[2014ACTI3261] - Rosa, B. and Szewczyk, J. and Morel, G (2014). A biomechanical model describing tangential tissue deformations during contact micro-probe scanning.
IEEE/RSJ International Conference on Intelligent Robots and Systems 2014 (IROS’14). Pages 4327-4333.
[ BIB ]

[2014ACTI3311] - Bouvel, S. and Roby-Brami, A. and Morel, G. and Pasqui, V. (2014). Vector field interpolation for scapular position estimation from noisy acromial motion capture.
Surgetica 2014. Pages 1-4.
[ BIB ]

[2014ACTI3312] - Bensignor, T. and Gayet, B. and Morel, G. (2014). Evaluation of a new robotized needle holder on ergonomics and skills.
Surgetica 2014. Pages 1-4.
[ 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 ]

[2014ACTI3315] - Bensignor, T. and Gayet, B. and Morel, G. (2014). Evaluation of the effect of a robotized needle holder on ergonomics and skills.
Conference on Robotic Assisted Surgery (CRAS2014). Pages 96-99.
[ HTTP | BIB ]

2013

[2013ACLI2722] - Rosa, B and Erden, MS and Vercauteren, T and Herman, B and Szewczyk, J and Morel, G (2013). Building large mosaics of confocal endomicroscopic images using visual servoing.
IEEE Transactions on Biomedical Engineering. Vol 60 No 4 Pages 1041 - 1049.
[ PDF | HTTP | BIB ]

[2013ACLI2756] - Erden, M.S. and Rosa, B. and Szewczyk, J. and Morel, G. (2013). Understanding Soft Tissue Behavior for Application to Microlaparoscopic Surface Scan.
IEEE Transactions on Biomedical Engineering. Vol 60 No 4 Pages 1059 - 1068.
[ HTTP | BIB ]

[2013ACLI3258] - Erden, M. and Rosa, B. and Boularot, N. and Gayet, B. and Morel, G.and Szewczyk, J. (2013). Conic-spiraleur: a miniature distal scanner for confocal microlaparoscope.
IEEE/ASME Transactions on Mechatronics, Vol. n°99. Pages 1-13.
[ BIB ]

[2013INVI3320] - Morel, G. (2013). Comanipulation for assistance to surgical gesture.
Portuguese National Meeting of IEEE society of Biomedical Eng.. Minho, Portugal. invited conference.
[ BIB ]

[2013INVN3317] - Morel, G. (2013). Les exosquelettes robotisés : un aperçu des technologies ET des applications.
Séance annuelle commune de l\'académie de chirurgie et de l\'académie de médecine. Paris. invited conference.
[ BIB ]

[2013ACTI2789] - Erden, MS. and Rosa, B. and Szewczyk, J. and Morel, G. (2013). Mechanical design of a distal scanner for confocal microlaparoscope: a conic solution.
IEEE International Conference on Robotics and Automation. Pages To appear.
[ BIB ]

[2013ACTI2829] - Francoise, V. and Sahbani, A. and Roby-Brami, A. and Morel, G. (2013). Assistance to bone milling: tool mounted visual display improves the efficiency of robotic guidance.
IEEE Engineering in Medicine and Biology Society (EMBC'13). Pages To appear.
[ BIB ]

[2013ACTI2911] - Verité, F. and Bachta, W. and Morel, G. (2013). Closed-Loop Control of a Human Center-Of-Pressure Position Based on Somatosensory Feedback.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13). Pages to appear.
[ 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 ]

[2013ACTN3161] - Roby-Brami, A and Robertson, J and Crocher, V and Sahbani, A and Jarrasse, N and Morel, G (2013). Rééducation robotisée : bases conceptuelles et neurophysiologiques..
Revue Neurologique Vol 169S Journées de Neurologie de langue française. . Pages A221-A223. .
[ BIB ]

[2013COM3260] - Rosa, B. and Szewczyk, J. and Morel, G. (2013). Precise navigation on soft tissues with an endomicroscopy probe.
3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery. Verona, Italy.
[ BIB ]

[2013BR4488] - Rosa, B. and Szewczyk, J. and Morel, G. and Herman, B. and Lacombe, F. and Henri, P. (2013). Compensation mécanique des mouvements physiologiques.
. No WO/2013/000873
[ BIB ]

2012

[2012ACLI2359] - Crocher, V. and Sahbani, A. and Robertson, J. and Roby-Brami, A. and Morel, G. (2012). Constraining upper-limb synergies of hemiparetic patients using a robotic exoskeleton in the perspective of neuro-rehabilitation.
IEEE Transactions on Neural Systems and Rehabilitation Engineering . Vol 20 (3) Pages 247--257.
[ PDF | HTTP | BIB ]

[2012ACLI2188] - Jarrasse, N. and Morel, G. (2012). Connecting a Human Limb to an Exoskeleton..
IEEE Transactions on Robotics. Vol 28 No 3 Pages 697-710.
[ PS | PDF | HTTP | 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 ]

[2012INVN3316] - Morel, G. (2012). L’assistance au geste par comanipulation et ses applications thérapeutiques.
Colloque Robotique et Sante de la Chaire Liliane Bettencourt. Collège de France, Paris. invited conference.
[ HTTP | BIB ]

[2012ACTI2339] - Florez, J-M and Szewczyk, J and Morel, G (2012). An Impedance Control Strategy for a Hand-held Instrument to Compensate for Physiological Motion.
IEEE International Conference on Robotics and Automation. Pages 1952 - 1957.
[ BIB ]

[2012ACTI2452] - Jarrasse, N. and Crocher, V. and Morel, G. (2012). A method for measuring the upper limb motion and computing a compatible exoskeleton trajectory.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'12). Pages 3461 -- 346.
[ PDF | BIB ]

[2012ACTI2474] - Rosa, B. and Erden, M.S. and Vercauteren, T. and Szewczyk, J. and Morel, G. (2012). Scanning the surface of soft tissues with a micrometer precision thanks to endomicroscopy based visual servoing.
Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems. Pages 4118 - 4124.
[ PDF | BIB ]

[2012ACTI2475] - Erden, M.S. and Rosa, B. and Szewczyk, J. and Morel, G. (2012). Understanding Soft Tissue Behavior for Microlaparoscopic Surface Scan .
Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems. Pages 2928 - 2934.
[ PDF | BIB ]

[2012COM2360] - Crocher, V. and Sahbani, A. and Robertson, J. and Roby-Brami, A. and Morel, G. (2012). A new control strategy for rehabilitation of upper limb synergies in hemiparetic patients using a robotic exoskeleton.
1st UAE Meeting on Neurorehabilitation (UMNR). Abu Dhabi.
[ HTTP | BIB ]

[2012COM2584] - Francoise, V. and Sahbani, A. and Morel, G. (2012). Combining visual and force feedback for milling gesture guidance.
International Workshop on Human-Friendly Robotics. Brussels, Belgium.
[ BIB ]

[2012BR2480] - Erden, MS. and Rosa, B. and Szewczyk, J. and Morel, G. and Vidal, C. and Henri, P. and Boulareau, N. and (2012). Conic Scanner for Confocal Microlaparoscope.
. No US Provisional 61623 Demande de dépôt.
[ 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 ]

[2011ACLN2687] - Riwan, A. and Giudicelli, B. and Taha, F. and Lazennec, J.-Y. and Sahbani, A. andKilian, P. and Jabbour, Z. and VanRhijn, J. and Louveau, F. and Morel, G. and Francoise, V. and Armand, D. and Lavallée, S. (2011). Surgicobot project: Robotic assistant for spine surgery.
IRBM Ingéniérie et recherche Biomédicale. Vol 32 No 2 Pages 130-136.
[ HTTP | BIB ]

[2011ACTI1833] - Crocher, V. and Jarrasse, N. and Sahbani, A. and Roby-Brami, A. and Morel, G. (2011). Changing human upper-limb synergies with an exoskeleton using viscous fields.
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'11). Pages 4657--4663. Shanghai, China.
[ PDF | BIB ]

[2011ACTI1834] - Vancamberg, L. and Sahbani, A. and Muller, S. and Morel, G. (2011). Needle Path Planning for Digital Breast Tomosynthesis Biopsy Using a Heterogeneous Model.
IEEE International Conference on Robotics and Automation (ICRA'11). Pages 5749--5755. Shanghai, China.
[ 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 ]

[2011ACTI1984] - Florez, J-M. and Bellot, D. and Morel, G. (2011). LWPR-Model Based Predictive Force Control for Serial Comanipulation in Beating Heart Surgery.
Proc. of IEEE/ASME AIM2011. Pages 320--326.
[ BIB ]

[2011ACTI2136] - Francoise, V. and Sahbani, A. and Morel, G. (2011). A comanipulation device for orthopedic surgery that generates geometrical constraints with real-time registration on moving bones.
IEEE International Conference on Robotics and Biomemitics (ROBIO'11). Pages 38--43. Phuket Island, Thailand.
[ 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 ]

[2011ACTI2148] - Rosa, B. and Herman, B. and Szewczyk, J. and Gayet, B. and Morel, G. (2011). Laparoscopic Optical Biopsies: In Vivo Robotized Mosaicing with Probe-based Confocal Endomicroscopy.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Pages 1339-1345.
[ PDF | BIB ]

[2011ACTI2338] - Florez, J-M and Bellot, D and Szewczyk, J and Morel, G (2011). Serial Comanipulation in Beating Heart Surgery Using a LWPR-Model Based Predictive Force Control Approach.
Intelligent Robotics and Applications. Pages 389--400.
[ BIB ]

[2011ACTI2611] - Herman, B. and Zahraee, AH. and Szewczyk, J. and Morel, G. and Bourdin, C. and Vercher, JL. and Gayet, B. (2011). Ergonomic and Gesture Performance of Robotized Instruments for Laparoscopic Surgery.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Pages 1333 - 1338.
[ 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 ]

[2011BR2278] - Rosa, B. and Szewczyk, J. and Morel, G. and Herman, B. and Lacombe, F. and Henri, P. and Lopez, J. (2011). Instrument endoscopique à pied d'appui.
. No FR 11 55827 Demande de dépôt.
[ PDF | BIB ]

[2011BR2344] - Vancamberg, L. and Sahbani, A. and Muller, A. and Iordache, R. and Morel, G. (2011). Procédés d'assistance à la manipulation d'un instrument, et ensemble d'assistance associé..
. No FR1160609 Demande de dépôt.
[ 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 ]

[2011BR2492] - Morel, G. and Muller, S. and Sahbani, A. and Vancamberg, L. (2011). Procédé de détermination d un trajet d insertion d un outil dans une matrice tissulaire pouvant se déformer et système robotisé mettant en oeuvre le procédé .
. No FR2959409
[ 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

[2010ACLI1507] - Zemiti, N. and Morel, G. and Micaelli, A. and Cagneau, B. and Bellot, D. (2010). On the Force Control of Kinematically Defective Manipulators Interacting with an Unknown Environment.
IEEE Transactions on Control Systems Technology. Vol 18 No 2 Pages 307-322.
[ BIB ]

[2010ACLI1499] - Hassan Zahraee, A. and Paik, J. and Szewczyk, J. and Morel, G. (2010). Towards the Development of a Hand-Held Surgical Robot for Laparoscopy.
IEEE/ASME Transactions on Mechatronics. Vol 15 No 6 Pages 853-861.
[ PDF | BIB ]

[2010ACLI1560] - Jarrasse, N. and Tagliabue, M. and Robertson, J. and Maiza, A. and Crocher, V. and Roby-Brami, A. and Morel, G. (2010). A methodology to quantify alterations in human upper limb movement during co-manipulation with an exoskeleton.
IEEE in Transactions on Neural Systems and Rehabilitation Engineering. Vol 18 No 4 Pages 389 - 397 .
[ PDF | BIB ]

[2010COS1497] - Vancamberg, L. and Sahbani, A. and Muller, S. and Morel, G. (2010). Needle Path Planning Method for Digital Breast Tomosynthesis Biopsy Based on Probabilistic Techniques.
Lecture Notes in Computer Science, DOI: 10.1007/978-3-642-13666-5, Springer Berlin / Heidelberg, publisher. Vol 6136 Pages 15-22.
[ HTTP | BIB ]

[2010ACTI2281] - Hassan Zahraee, A. and Paik, J. and Szewczyk, J. and Morel, G. (2010). Robotic Hand-Held Surgical Device: Evaluation of End-Effectors Kinematics and Developpement of Proof-of-Concept Prototypes.
MICCAI 2010, the 13th International Conference on Medical Image Computing and Computer Assisted Intervention. Pages 432-439.
[ PDF | BIB ]

[2010ACTI1427] - Vancamberg, L. and Sahbani, A. and Muller, S. and Morel, G. (2010). Needle Path Planning for Digital Breast Tomosynthesis Biopsy .
IEEE International Conference on Robotics and Automation (ICRA'10). Pages 2062--2067. Anchorage, Alaska, USA.
[ PDF | BIB ]

[2010ACTI1515] - Busack, M. and Bellot, D. and Morel, G. (2010). Breathing Motion Compensation for Robot Assisted Laser Osteotomy.
IEEE International Conference on Robotics and Automation (ICRA'10). Pages 4573-4578. Anchorage, Alaska.
[ 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 ]

[2010ACTI1514] - Jarrasse, N. and Morel, G. (2010). Formal Methodology for Avoiding Hyperstaticity When Connecting an Exoskeleton to a Human Member.
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'10). Pages 1188 - 1195. Anchorage, Alaska.
[ PDF | BIB ]

[2010ACTI1561] - Jarrasse, N. and Morel, G. (2010). On the kinematic design of exoskeletons and their fixations with a human member.
Proceedings of Robotics: Science and Systems (RSS'10). Pages 1-8. Zaragoza, Spain.
[ BIB ]

[2010ACTI1563] - Hassan Zahraee, A. and Szewczyk, J. and Morel, G. (2010). Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Developpement of Proof-of-Concept Prototypes.
Medical Image Computing and Computer-Assisted Intervention. MICCAI 2010, Springer Berlin / Heidelberg, publisher. Pages 432-439. China.
[ PDF | BIB ]

[2010ACTI1565] - Crocher, V. and Sahbani, A. and Morel, G. (2010). Imposing joint kinematic constraints with an upper limb exoskeleton without constraining the hand motion.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10). Pages 5028--5033. Taipei, Taiwan.
[ PDF | BIB ]

[2010COM2263] - Robertson J. and Jarrasse, N. and Tagliabue, M. and Maiza A. and Crocher, V. and Morel, G. and Roby-Brami, A (2010). A methodology to quantify alterations in human upper-limb movement during co-manipulation with an exoskeleton. .
Proceedings of the 6th World Congress of Neurorehabilitation. . Vienna, Austria..
[ BIB ]

[2010BR1902] - Morel, G. and Sahbani, A. and Francoise, V. (2010). Effecteur équipé d'un dispositif de mesure pour la localisation d'une partie utile d'un outil.
. No FR2968191
[ BIB ]

[2010BR1903] - Vancamberg, L. and Sahbani, A. and Muller, S. and Morel, G. (2010). Method for determining insertion trajectory of tool in deformable tissular matrix and robotic system for executing the method.
. No US2011/0270270A1
[ PDF | BIB ]

[2010BR2567] - Paik, J. and Morel, G. and Vidal, C. and Henri, P. and Collet, H. (2010). Surgical Instrument.
. No WO/2010/112608
[ BIB ]

[2010BR2568] - Paik, J. and Morel, G. and Vidal, C. and Henri, P. and Collet, H. (2010). Surgical Instrument.
. No WO/2010/112609
[ BIB ]

2009

[2009ACLN1352] - Robertson, J. and Roby-Brami, A. and Jarrasse, N. and Pasqui, V. and Morel, G. (2009). La conception d'un robot de reeducation au membre superieur.
Kinesitherapie, la revue. Vol 9 Pages 62-63.
[ BIB ]

[2009ASL2267] - Robertson, J. and Roby-Brami, A. and Jarrasse, N. and Pasqui, V. and Morel, G. (2009). La conception d'un robot de rééducation au membre supérieur .
Kinésithérapie La Revue . Vol 85 Pages 62-63.
[ 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 ]

[2009INVI3263] - Morel, G. and Szewczyk, J. (2009). Computer Assisted Surgery at ISIR.
Workshop Franco-Japonais de robotique chirurgicale. Tokyo, Japan. invited conference.
[ BIB ]

[2009ACTI1354] - Jarrasse, N. and Morel, G. (2009). A Methodology to Design Kinematics of Fixations between an Orthosis and a Human Member.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Pages 1958 - 1963. Singapore.
[ PDF | BIB ]

[2009ACTI1357] - Jarrasse, N. and Paik, J. and Pasqui, V. and Morel, G. (2009). Experimental Evaluation of Several Strategies for Human Motion Based Transparency Control.
Proceedings of the International Symposium on Experimental Robotics (ISER'09). Pages 557--565. Athenes, Grece.
[ PDF | BIB ]

[2009ACTI1386] - Hassan Zahraee, A. and Szewczyk, J. and Morel, G. (2009). Evaluating control modes for hand-held robotic surgical instrument using virtual reality simulator.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'09). Pages 1946--1951.
[ BIB ]

[2009ACTI1387] - Hassan Zahraee, A. and Szewczyk, J. and Morel, G. (2009). Simulation for optimal design of hand-held surgical robots.
IEEE International Conference on Engineering in Medicine and Biology (EMBC'09). Pages 270-273.
[ PDF | BIB ]

[2009ACTI1511] - Weinberg, B. and Khanicheh, A. and Sivak, M. and Unluhisarcikli, O. and Morel, G. and Shannon, J. and Kelliher, J. and Sabadosa, M. and Bonmassar, G. and Patritti, B. and Bonato, P. and Mavroidis, C. (2009). Variable Resistance Hand Device using an electro-rheological fluid damper.
World Haptics’09. Pages 529-534. Salt Lake City, USA.
[ BIB ]

[2009ACTI1513] - Lamy, X. and Colledani, F. and Geffard, F. and Measson, Y. and Morel, G. (2009). Achieving efficient and stable comanipulation through adaptation to changes in human arm impedance.
IEEE Int. Conf. on Robotics and Automation (ICRA'09). Pages 265-271. Kobe, Japan.
[ BIB ]

[2009ACTI1512] - Lamy, X. and Colledani, F. and Geffard, F. and Measson, Y. and Morel, G. (2009). Robotic skin structure and performances for industrial robot comanipulation.
IEEE Advanced Intelligent Mechatronics (AIM'09). Pages 427-432. Singapore.
[ BIB ]

[2009COM2189] - Morel, G. and Jarrasse, N. (2009). On the connection of exoskeleton with human limbs..
Workshop on Interfacing the Human and the Robot (IHR), ICRA'09. Japan. .
[ BIB ]

[2009COM2190] - Morel, G. and Jarrasse, N. (2009). Interfacing a human member with a robotic exoskeleeton.
10th Dutch-Belgian Haptics Meeting. Bruxelles.
[ 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.
[ PDF | BIB ]

[2008ACTI1520] - Cagneau, B. and Bellot, D. and Morel, G. (2008). A Passive Force Amplifier.
IEEE International Conference on Robotics and Automation (ICRA'08). Pages 2079-2084. Pasadena, USA.
[ BIB ]

[2008ACTI1516] - Belaroussi, R. and Morel, G. (2008). Visual Servoing for Patient Alignment in Protontherapy.
Lecture Notes in Computer Science, Advances in Visual Computing (Proc. of ISVC'08) . Pages 843-850.
[ BIB ]

[2008ACTI1355] - Jarrasse, N. and Robertson, J. and Garrec, P. and Paik, J. and Pasqui, V. and Perrot, Y. and Roby-Brami, A. and Wang, D. and Morel, G. (2008). Design and acceptability assessment of a new reversible orthosis.
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on. Pages 1933-1939. Nice, France.
[ PS | PDF | BIB ]

[2008ACTI1356] - Jarrasse, N. and Paik, J. and Pasqui, V. and Morel, G. (2008). How can human motion prediction increase transparency?.
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'08). Pages 2134-2139. Pasadena, California, US.
[ PDF | BIB ]

[2008ACTI1521] - Cagneau, B. and Bellot, D. and Morel, G. and Zemiti, N. and D'Agostino, G. (2008). Augmented Comanipulation in Robotic Surgery.
BIODEVICES. Pages 47-54.
[ BIB ]

[2008ACTI1510] - Belaroussi, R. and Morel, G. (2008). Combination of Image Registration Algorithms for Patient Alignment in Proton Beam Therapy..
International Conference on Image and Signal Processing, ICISP’2008,. Pages 183-191.
[ BIB ]

2007

[2007ACLI751] - Zemiti, N. and Morel, G. and Ortmaier, T. and Bonnet, N. (2007). Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery.
IEEE-ASME Transactions on Mechatronics. Vol 12 No 2 Pages 143-153.
[ BIB ]

[2007ACTI663] - Pinault, S. and Morel, G. and Ferrand, R. and Auger, M. and Mabit, C. (2007). Eagle, an infrared registration system for patient positioning.
PTCOG 07, Particle Therapy Co-Operative Group Zibo. Chine.
[ PDF | BIB ]

[2007ACTI641] - Saint-Bauzel, L. and Pasqui, V. and Morel, G. and Gas, B. (2007). Real-time human posture observation from a small number of joint measurements.
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on IEEE/RSJ International conference on Intelligent Robots and Systems . Pages 3956-3961. San-diego, USA.
[ PDF | BIB ]

[2007ACTI657] - Cagneau, B. and Zemiti, N. and Bellot, D. and Morel, G. (2007). Physiological Motion Compensation in Robotized Surgery using Force Feedback Control.
IEEE International Conference on Robotics and Automation Proceedings of the 2007 IEEE International Conference on Robotics and Automation. Pages 1881-1886. Roma, Italie.
[ BIB ]

[2007ACTI658] - Cagneau, B. and Zemiti, N. and Bellot, D. and Morel, G. (2007). Compensation des mouvements physiologiques par commande en efforts.
Proc. of Surgetica 07, Computer assisted medical and surgical interventions. Pages 223-230. Chambery, France.
[ 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 ]

[2007ACTI661] - Pinault, S. and Morel, G. and Ferrand, R. and Auger, M. and Mabit, C. (2007). Using an external registration system for daily patient repositioning in protontherapy.
Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 07, IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego, USA.
[ BIB ]

[2007ACTI662] - Pinault, S. and Morel, G. and Ferrand, R. and Auger, M. and Mabit, C. (2007). Using an external registration system for daily patient repositioning in protontherapy.
Surgetica 07,Computer assisted medical and surgical interventions Surgetica 07,Computer assisted medical and surgical interventions. Chambery, France.
[ BIB ]

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 ]

[2006ACLI33] - Schramm, F. and Morel, G. (2006). Ensuring Visibility in Calibration-Free Path Planning For Image-Based Visual Servoing.
IEEE Transactions on Robotics. Vol 22 No 4 Pages 848-854.
[ BIB ]

[2006ACTI655] - Zemiti, N. and Morel, G. and Micaelli, A. and Cagneau, B. and Bellot, D. (2006). A Passive Formulation of Force Control for Kinematically Constrained Manipulators.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation. Pages 2238-2243. Orlando, USA.
[ BIB ]

[2006ACTI656] - Zemiti, N. and Morel, G. and Micaelli, A. and Cagneau, B. and Bellot, D. (2006). Kinematic Instability of Kinematically Constrained Manipulators under Pure Force Control.
8th International IFAC Symposium on Robot Control. Bologna, Italie.
[ 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 ]

[2006THDR752] - Morel, G. (2006). HDR : Robotique de manipulation : commande référencée capteurs et applications médico-chirurgicales.
. Habilitation à Diriger des Recherches. Université Pierre et Marie Curie, Paris 6.
[ BIB ]

2005

[2005ACLI28] - Morel, G. and Zanne, Ph. and Plestan, F. (2005). Robust Visual Servoing : Bounding the Task Function Tracking Errors.
IEEE TCST: Transactions on Control Systems Technology. Vol 13 Pages 998-1009.
[ 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 ]

[2005ACTI130] - Schramm, F. and Micaelli, A. and Morel, G. (2005). Calibration free path planning for visual servoing yielding straight line behaviour both in image and workspace.
Actes de IROS’05 : IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton, Canada.
[ 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 ]

[2005COM221] - Morel, G. and Gangloff, J. (2005). Commande Référencée Capteur en Robotique Médicale et Chirurgicale.
Actes de JNNR’05 : 5èmes Journées Nationales de la Recherche en Robotique. Pages 131-142. Guidel, France.
[ BIB ]

2004

[2004ACLI25] - Krupa, A. and Morel, G. and de Mathelin, M. (2004). Achieving High Precision Laparoscopic Manipulation Through Adaptive Force Control.
Advanced Robotics, International Journal of the Robotics Society of Japan. Vol 18 No 9 Pages 905--926.
[ BIB ]

[2004ACTI78] - Schramm, F. and Morel, G.and Lottin, A. (2004). Image Based Visual Servoing from Groups of 3D point.
Actes de ISR’04: 35th International Symposium on Robotics. Paris, France.
[ BIB ]

[2004ACTI80] - Shi, J. and Médéric, P. and Pasqui, V. and Morel, G. and Wang, S. (2004). Preliminary Results on the Design of a Novel Laparoscopic Manipulator.
Proceedings of the 11th world congress on the theory of machines and mechanisms. Tianjin, R.P. Chine.
[ BIB ]

[2004ACTI88] - Schramm, F. and Morel, G. and Micaelli, A. and Lottin, A. (2004). Extended 2D Visual Servoing.
Actes de ICRA’04 : IEEE International conference on Robotics and Automation. Vol 1 Pages 267–273. La Nouvelle Orléans, Etats-Unis.
[ BIB ]

[2004ACTI89] - Schramm, F. and Morel, G. (2004). A Calibration free Analytical Solution to Image Points Path Planning that Ensures Visibility.
Actes de ICRA’04 : IEEE International conference on Robotics and Automation. Vol 1 Pages 485-490. La Nouvelle Orléans, Etats-Unis.
[ BIB ]

[2004ACTI90] - Sallé, D. and Bidaud, Ph. and Morel, G. (2004). Optimal Design of High Dexterity Modular MIS Instrument for Coronary Artery Bypass Grafting.
Actes de ICRA’04 : IEEE International conference on Robotics and Automation. Vol 2 Pages 1276– 1281. La Nouvelle Orléans, Etats-Unis.
[ BIB ]

[2004ACTI91] - Zanne, Ph. and Morel, G. and Plestan, F. (2004). Robust 3D Vision Based Control and Planning.
Actes de ICRA’04 : IEEE International conference on Robotics and Automation. Vol 5 Pages 4423-4428. La Nouvelle Orléans, Etats-Unis.
[ 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 ]

[2004ACTI106] - Dombre, E. and Michelin, M. and Pierrot, F. and Poignet, Ph. and Bidaud, Ph. and Morel, G. and Ortmaier, T. and Sallé, D. and Zemiti, N. and Gravez, Ph. and Bonnet, N. and Karouia, M. (2004). MARGE Project: Modeling and Control of Assistive Devices for Minimally Invasive Surgery.
MICCAI 2004; International Society and Conference Series on Medical Image Computing and Computer-Assisted Intervention. Vol 2 Pages 1-8. Saint-Malo, France.
[ BIB ]

[2004ACTI114] - Zemiti, N. and Ortmaier, T. and Morel, G. (2004). A New Robot for Force Control in Minimally Invasive Surgery.
IROS 2004; 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol 4 Pages 3643-3648. Sendai, Japon.
[ BIB ]

[2004COM202] - Dombre, E. and Michelin, M. and Poignet, P. and Bidaud, Ph. and Morel, G. and Sallé, D. and Médéric, P. and Gravez, P. and Karouia, M. and Bonnet, N. (2004). Projet MARGE: Modélisation, Apprentissage et Reproduction du Geste Endochirurgical.
Journées CNRS-ROBEA. Toulouse, France.
[ BIB ]

[2004COM207] - Zemiti, N. and Ortmaier, T. and Morel, G. (2004). MC2E : un robot de chirurgie mini-invasive commandé en effort.
JJCR. Douai, France.
[ BIB ]

2003

[2003ACLI17] - Krupa, A. and Gangloff, J. and Doignon, C. and de Mathelin, M. and Morel, G. and Leroy, J. and Soler, L. and Marescaux, J. (2003). Autonomous 3D positionning of surgical instruments in rototized laparoscopic surgery using visual servoing..
IEEE TRA : Transactions on Robotics and Automation. Vol 19 No 5 Pages 842-853.
[ BIB ]

2002

[2002INVI147] - Krupa, A. and Doignon, C. and Gangloff, J. and de Mathelin, M. and Morel, G. and Soler, L. and Leroy, J. and Ghodoussi, M. (2002). Towards semi-autonomy in laparosocpic surgery : first live experiments...
Actes de ISER’02 : International Symposium on Experimental Robotics. Naples, Italie.
[ BIB ]

[2002ACTI39] - Krupa, A. and Gangloff, J. and de Mathelin, M. and Doignon, C. and Morel, G. and Soler, L. and Maresscaux, J. (2002). Autonomous Retrieval of a Laparoscopic Instrument Using Visual Servoing and Laser Pointers.
Actes de ICRA’02:IEEE International Conference on Robotics and Automation. Pages 3769-3774. Washington DC, Etats-Unis.
[ BIB ]

[2002ACTI40] - Krupa, A. and Morel, G. and de Mathelin, M. (2002). Achieving High Precision Laparoscopic Manipulation Using Force Feedback Control.
Actes de ICRA’02: IEEE International Conference on Robotics and Automation. Pages 1864-1869. Washington DC, Etats-Unis.
[ BIB ]

[2002ACTI41] - Zanne, P. and Morel, G. and Plestan, F. (2002). Robust Sensor Based Control of Robots : Bounding the Task Function Tracking Errors.
Actes de ICRA’02: IEEE International Conference on Robotics and Automation. Pages 3775-3780. Washington DC, Etats-Unis.
[ BIB ]

[2002ACTI47] - Krupa, A. and de Mathelin, M. and Gangloff, J. and Doignon, Ch. and Morel, G. (2002). A vision system for automatic 3D positioning of surgical instruments for laparoscopic surgery with robot.
Actes sur CD-ROM de ISMCR’02 : 12th International Symposium on Measurement and Control in Robotics. Bourges, France.
[ BIB ]

[2002ACTI54] - Zanne, P. and Morel, G. and Plestan, F. (2002). Low Gain Robust Visual Servoing with Bounded Tracking Errors.
Actes sur CDROM de 2002 IFAC World Congress on Automatic Control. Barcelone, Espagne.
[ BIB ]

[2002ACTI60] - Krupa, A. and de Mathelin, M. and Doignon, C. and Gangloff, J. and Morel, G. and Soler, L. and Leroy, J. and Marescaux, J. (2002). Automatic 3-D positioning of surgical instruments during robotized laparoscopic surgery using automatic visual feedback.
Actes de MICCAI’02 : Fifth International Conference on Medical Image Computing and Computer-Assisted Intervention, Lecture Notes in Computer Sciences 2488. Pages 9-16. Tokyo, Japon.
[ BIB ]

[2002ACTI66] - Krupa, A. and de Mathelin, M. and Doignon, C. and Gangloff, J. and Morel, G. and Soler, L. and Leroy, J. and Marescaux, J. (2002). Automatic positioning of surgical instruments during laparoscopic surgery with robots using automatic visual feedback.
Actes de MS4CMS’02: Conference on Modelling and Simulation for Computer-aided Medicine and Surgery. INRIA Rocquencourt, France.
[ BIB ]

[2002COM187] - Dombre, E. and Michelin, M. and Poignet, P. and Bidaud, Ph. and Morel, G. and Sallé, D. and Médéric, P. and Gravez, P. and Karouia, M. and Bonnet, N. (2002). Projet MARGE: Modélisation, Apprentissage et Reproduction du Geste Endochirurgical.
Journées CNRS-ROBEA. Toulouse, France.
[ BIB ]

2001

[2001ACLI1502] - Malis, E. and Morel, G. and Chaumette, F. (2001). Robot control using disparate multiple sensors.
International Journal of Robotics Research. Vol 20 No 5 Pages 364-377.
[ BIB ]

2000

[2000ACLI1503] - Morel, G. and Iagnemma, K. and Dubowsky, S. (2000). The precise control of manipulators with high joint-friction using base force/torque sensing.
Automatica. Vol 36 No 7 Pages 931-941.
[ BIB ]

[2000ACTI1555] - Morel, G. and Liebezeit, T. and Szewczyk, J. and Boudet, S. and Pot, J. (2000). Explicit incorporation of 2D constraints in vision based control of robot manipulators.
Experimental Robotics . Pages 99-108.
[ BIB ]

[2000ACTI1559] - Krupa, A. and Doignon, C. and Gangloff, J. and de Mathelin, M. and Soler, L. and Morel, G. (2000). Towards semi-autonomy in laparosocpic surgery through vision and force feedback control.
Experimental Robotics. Pages 189 - 198.
[ BIB ]

1999

[1999ACLI1501] - Lischinsky, P. and Canudas de Wit, C. and Morel, G. (1999). Friction compensation for an industrial hydraulic robot.
IEEE Control Systems Magazine. Vol 19 No 1 Pages 25-32.
[ BIB ]

1998

[1998ACTI1556] - Morel, G. and Malis, E. and Boudet, S. (1998). Impedance Based Combination of Visual and Force Control.
IEEE International Conference on Robotics and Automation (ICRA'98). Pages 1743-1748.
[ BIB ]

[1998ACTI1558] - Liu, G. and Iagnemma, K. and Morel, G. and Dubowsky; S. (1998). Base Force Torque Sensor Approach to Robot Manipulator Inertial Parameters Estimation.
IEEE International Conference on Robotics and Automation (ICRA'98). Pages 3316-3321.
[ BIB ]

1996

[1996ACTI1557] - Morel, G. and Dubowsky, S. (1996). The Precise Control of Manipulators with Joint Friction: a Base Force/Torque Sensor Method.
IEEE International Conference on Robotics and Automation (ICRA'96). Pages 360-365.
[ BIB ]