Institut des Systèmes Intelligents
et de Robotique


Sorbonne Universite



Tremplin CARNOT Interfaces



Titre :Utilization of Under-Actuated Robot for Co-Manipulated guidance for breast cancer detection

Mots clés :

 under-actuated co-manipulation, synergistic human-robot collaboration, breast cancer detection, U/S imaging

Cette soutenance aura lieu le

Lundi 30Septembre 2013 à 14h30

UPMC – Campus Jussieu, 4 Place Jussieu - 75005 Paris

Tour 65, 3ème étage, couloir 65-66, salle 304.


Jury :

 Guillaume Morel Professeur à l’UPMC Paris 6 (Directeur de Thèse)

Serge Muller Ingénieur en Chef à GE Healthcare (Encadrant)

Gérard Poisson Professeur à l’Université d’Orléans (Rapporteur)

Tanneguy Redarce Professeur à l’INSA de Lyon (Rapporteur)

Véronique Perdereau Professeur à l’UPMC Paris 6 (Examinateur)

Résumé :

This research is situated in the emerging field of co-manipulation systems where robot and user perform a task in a collaborative way. It is applied to the medical context of breast cancer diagnosis where the standard procedure today is the succession of an initial mammography (MX) examination and a supplementary Ultrasound (U/S) scan. The surgeon's task is to localize the target lesion defined in the MX images using 2D U/S. One difficulty of this procedure results from the fact that breast geometry changes for both examinations due to different patient's positions. A second difficulty is the mental correlation of two different image types. MX provides a 3D view, whereas U/S only displays a cross section of the object.


The proposed system facilitates this combined examination by keeping the breast geometry and by adding a U/S probe guidance robot to the mammography system. A 6DOF parallel co-manipulation system is set up where the robot and user simultaneously impact on the probe. A robot control is developed for active task assistance. Its relevance is evaluated in vitro and showed a significant increase in examination quality when using robot guidance compared to the standard examination. 


The novel aspect treated in this thesis is under-actuated co-manipulation, where the robot has less DOF than the task requires.

The initial idea is that, although the robot cannot perform the task autonomously, it may bring partial assistance that still improves the movement. 

This involves adaptation in terms of robot control and system architecture.

It is shown in this work that, in case of under-actuation, simple reduction from a fully-actuated robot control to the remaining robot DOF is not sufficient to guarantee system stability. System architecture needs to be adapted accordingly.


To quantify examination improvements when using under-actuated guidance, different under-actuated robot controls have been compared. 

The main outcome of this thesis is that even an under-actuated robot system increases task precision significantly while decreasing execution time.