Follow-the-Leader Deployment
The particular architecture of concentric tube robots leads to lateral motions of their bodis while their tips are controlled. Such behavior can be undesired for deployment in …
Cédric Girerd
CNRS Researcher
I am a CNRS Researcher in Robotics. I work in the DEXTER Team in the Robotics Department at LIRMM in Montpellier, France. I obtained a PhD from Strasbourg University in 2018 in Robotics, and was a Postdoctoral Scholar in the Morimoto Lab at the University of California San Diego from 2019 to 2022. Since 2023, I am an Associate Editor for the IEEE RoboSoft Conference.
Design of Concentric Tube Robots using Tube Patterning for Follow-the-Leader Deployment
Concentric tube robots (CTRs) have a great potential for use in medical applications. Coupled with a follow-the-leader (FTL) deployment, they allow navigation in constrained …
SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots
This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) deployment for the control of concentric …
Détection optique endonasale de la maladie d'Alzheimer
laurent-tavernier
In Vivo Inspection of the Olfactory Epithelium: Feasibility of Robotized Optical Biopsy
Inspecting the olfactory cleft can be of high interest, as it is an open access to neurons, and thus an opportunity to collect in situ related data in a non-invasive way. Also, …
Conception de robots à tubes concentriques et application à l'inspection des cellules olfactives
This PhD thesis is part of the ANR NEMRO project, whose goal is to study the hypothetical correlation between olfactory deficiency and neurodegenerative diseases. For this purpose, …
Toward a Robotized Inspection of the Olfactory Epithelium
In vivo inspection of the olfactory epithelium could lead to breakthroughs in neurosciences, but it can not be accessed today as it is located in a highly constrained area of the …
Towards Optical Biopsy of Olfactory Cells using Concentric Tube Robots with Follow-the-Leader Deployment
In this paper, we propose to take advantage of concentric tube robots (CTR) properties to design a robotic system for optical biopsies with fiber-based imaging modalities. …
Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots
Concentric tube robots show promising performances for many medical applications. A particularly useful but challenging deployment of these robots, called “follow-the-leader” …
Concentric Tube Robots for Inspection of Olfactory Cells