Cover -- Title Page -- Copyright Page -- Table of Contents -- Introduction -- Chapter 1. Characteristics and State of the Art -- 1.1 Introduction -- 1.1.1. Characteristics of medical robotics -- 1.1.2. Potential advantages of using a robot in a medical procedure -- 1.2. State of the art -- 1.2.1. Surgery of the head and neck -- 1.2.2. Orthopedic surgery -- 1.2.3. Mini-invasive or laparoscopic surgery -- 1.2.4. Interventional radiology and percutaneous procedures -- 1.2.5. Remote ultrasound -- 1.2.6. Radiotherapy and radiology -- 1.2.7. Other applications -- 1.3. Conclusion -- 1.4. Bibliography -- Chapter 2. Medical Robotics in the Service of the Patient -- 2.1. Introduction -- 2.1.1. Medical robotics: a field in full development -- 2.1.2. How and why has there been such development? -- 2.1.3. Medical service: a complex notion -- 2.2. A cycle of medical service growth -- 2.2.1. The actors -- 2.2.2. A model for the development of the medical service -- 2.2.3. Development diagram -- 2.3. A case study: the ViKY robotic endoscope support system -- 2.3.1. The context -- 2.3.2. ViKY and the progression of medical service -- 2.3.3. Relevance of the evaluation of the medical service -- 2.4. Conclusion -- 2.5. Bibliography -- Chapter 3. Inter-operative Sensors and Registration -- 3.1. Introduction -- 3.1.1. Summary of the context and the problem -- 3.1.2. Notions of registration, calibration and tracking -- 3.2. Intra-operative sensors -- 3.2.1. Imaging sensors -- 3.2.2. Position sensors -- 3.2.3. Surface sensors -- 3.2.4. Other sensors -- 3.3. Principles of registration -- 3.3.1. Notations and definitions -- 3.3.2. Nature of the transformation -- 3.3.3. Matched information -- 3.3.4. Similarity metrics -- 3.3.5. 3D/3D rigid registration -- 3.3.6. Open questions -- 3.4. Case studies.

3.4.1. Case no. 1 (interventional radiology) -- 3.4.2. Case no. 2 -- 3.4.3. Case no. 3 (Velocityy) -- 3.4.4. Case no. 4 -- 3.5. Discussion and conclusion -- 3.6. Bibliography -- Chapter 4. Augmented Reality -- 4.1. Introduction -- 4.2. 3D modeling of abdominal structures and pathological structures -- 4.3. 3D visualization system for planning -- 4.4. Interactive AR -- 4.4.1. Concept -- 4.4.2. An example application -- 4.4.3. The limits of such a system -- 4.5. Automatic AR -- 4.5.1. Augmented reality with fixed camera(s) -- 4.5.2. AR with a mobile camera -- 4.6. Taking distortions into account -- 4.7. Case Study -- 4.7.1. Percutaneous punctures -- 4.7.2. Bronchoscopic Navigation -- 4.7.3. Neurosurgery -- 4.8. Conclusions -- 4.9. Bibliography -- Chapter 5. Design of Medical Robots -- 5.1. Introduction -- 5.2. From the characterization of gestures to the design of robots -- 5.2.1. Analysis of the gesture -- 5.2.2. Kinematic and dynamic specifications -- 5.2.3. Kinematic choices -- 5.3. Design methodologies -- 5.3.1. Concept selection -- 5.3.2. Optimization of design parameters -- 5.4. Technological choices -- 5.4.1. Actuators -- 5.4.2. Sensors -- 5.4.3. Material -- 5.5. Security -- 5.5.1. Introduction -- 5.5.2. Security and dependability -- 5.5.3. Risks reduction in medical robotics -- 5.6. Conclusion -- 5.7. Bibliography -- Chapter 6. Vision-based Control -- 6.1. Introduction -- 6.1.1. Configurations of the imaging device -- 6.1.2. Type of measurement -- 6.1.3. Type of control -- 6.2. Sensors -- 6.2.1. Imaging devices -- 6.2.2. Localizers -- 6.3. Acquisition of the measurement -- 6.3.1. Acquisition of geometric primitives -- 6.3.2. Tracking of anatomical targets -- 6.3.3. Review of methods for image processing -- 6.4. Control -- 6.4.1. Modeling the visual servoing loop.

6.4.2. Online identification of the interaction matrix -- 6.4.3. Control laws -- 6.5. Perspectives -- 6.6. Bibliography -- Chapter 7. Interaction Modeling and Force Control -- 7.1. Modeling interactions during medico-surgical procedures -- 7.1.1. Introduction -- 7.1.2. Properties of tissues with small displacements -- 7.1.3. Non-viscoelastic models -- 7.1.4. Estimation of force models -- 7.1.5. Case study: needle-tissue interactions during a percutaneous intervention -- 7.2. Force control -- 7.3. Force control strategies -- 7.3.1. Implicit force control -- 7.3.2. Explicit force control -- 7.3.3. Stability -- 7.3.4. Choice of a control architecture -- 7.3.5. Application examples -- 7.4. Conclusion -- 7.5. Bibliography -- Chapter 8. Tele-manipulation -- 8.1. Introduction -- 8.1.1. The limitations of autonomy -- 8.1.2. Non-autonomous modes of intervention -- 8.1.3. Tele-manipulation in the medical field: interest and applications -- 8.2. Tele-manipulation and medical practices -- 8.2.1. Background -- 8.2.2. Action and perception modalities -- 8.2.3. Technology -- 8.3. Tele-manipulation with force feedback -- 8.3.1. Introduction -- 8.3.2. Modeling master-slave tele-manipulators (MST) -- 8.3.3. Transparency and stability -- 8.3.4. Bilateral tele-operation control schemes -- 8.3.5. Improvement of existing techniques for medical issues -- 8.3.6. Example: tele-operated needle insertion in interventional radiology -- 8.3.7. Prospects -- 8.4. Bibliography -- Chapter 9. Comanipulation -- 9.1. Introduction -- 9.1.1. Tele-manipulate, but without the distance -- 9.1.2. Definitions -- 9.1.3. Features and applications in medical and surgical robotics -- 9.1.4. A word about terminology -- 9.1.5. Contents -- 9.2. General principles of comanipulation -- 9.2.1. Serial comanipulation -- 9.2.2. Parallel comanipulation.

9.3. Serial comanipulation: intelligent active instrumentation -- 9.3.1. Dexterous instruments for minimally-invasive surgery -- 9.3.2. Tremor filtering in microsurgery -- 9.3.3. Compensation of physiological movements -- 9.4. Parallel comanipulation -- 9.4.1. Comanipulation in transparent mode -- 9.4.2. Passive, active, static and dynamic guides -- 9.4.3. Increase the quality of the tactile perception -- 9.5. A human in the loop -- 9.6. Bibliography -- Chapter 10. Towards Intracorporeal Robotics -- 10.1. Introduction -- 10.2. Mini-manipulators/tele-operated instrument holders -- 10.2.1. Objectives -- 10.2.2. General description -- 10.2.3. Challenges -- 10.3. Robotized colonoscopes and autonomous capsules -- 10.3.1. Objectives -- 10.3.2. General description -- 10.3.3. Challenges -- 10.4. Active catheters -- 10.4.1. Objectives -- 10.4.2. General description -- 10.4.3. Challenges -- 10.5. Evolution of surgical robotics -- 10.5.1. Towards more autonomous robots -- 10.5.2. Towards a much less invasive surgery -- 10.5.3. Towards the bio-nanorobotics -- 10.6. Additional information -- 10.6.1. Preamble -- 10.6.2. The shape memory alloys (SMA) -- 10.6.3. Electroactive polymers -- 10.7. Bibliography -- Conclusion -- Notations -- Medical Glossary -- List of Authors -- Index.