Publications of Guillaume Kazmitcheff

Publications HAL de kazmitcheff de la structure shacra;mimesis

2014

Journal articles

titre
Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures
auteur
Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Fabien Péan, Evelyne Ferrary, Stéphane Cotin, Olivier Sterkers, Christian Duriez
article
BioMed Research International , Hindawi Publishing Corporation, 2014, pp.10. <10.1155/2014/891742>
resume
Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed.
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titre
Simulation virtuelle de la palpation de la chaîne des osselets: développement d’un retour de forces réaliste
auteur
Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Evelyne Ferrary, Christian Duriez, Olivier Sterkers
article
Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2014, 131 (4), pp.A77. <10.1016/j.aforl.2014.07.417>
resume
no abstract
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Conference papers

titre
Haptic Rendering on Deformable Anatomical Tissues with Strong Heterogeneities
auteur
Guillaume Kazmitcheff, Hadrien Courtecuisse, Yann Nguyen, Mathieu Miroir, Alexis Bozorg-Grayeli, Stéphane Cotin, Olivier Sterkers, Christian Duriez
article
Eurohaptics 2014, Jun 2014, Versailles, France. Springer, 2014
resume
This paper is focus on the development of a haptic rendering method to simulate interactions with heterogeneous deformable materials, such as anatomical components. Indeed, the strong heterogeneities of the biological tissues involves numerical and real-time issues to simulate the deformations and the mechanical interactions between the organs and the surgical tools. In this paper, we propose a new haptic algorithm adapted to the modeling of heterogeneous biological tissues, based on non-linear finite element model. The central contribution is the use of a triple asynchronous approach: one loop at low rate, which computes a preconditionner that solves the numerical conditioning problems; a second at intermediate rate, to update the model of the biological simulation; and the haptic loop which provides the feedback to the user at high rate. Despite of the desynchronization, we show that the calculation of haptic forces remains accurate compared to the model. We apply our method to a challenging microsurgical intervention of the human middle ear. This surgery requires a delicate gesture in order to master the applied forces.
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titre
Virtual Simulation of Stapedotomy Surgery
auteur
Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Evelyne Ferrary, Stéphane Cotin, Christian Duriez, Olivier Sterkers
article
ARO 2014, Feb 2014, San Diego, CA, United States. 2014
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Theses

titre
Modélisation dynamique de l’oreille moyenne et des interactions outils organes pour la conception d’un simulateur appliqué à la chirurgie otologique
auteur
Guillaume Kazmitcheff
article
Informatique [cs]. L’UNIVERSITÉ DES SCIENCES ET DES TECHNOLOGIES DE LILLE 1, 2014. Français
resume
La microchirurgie de l’oreille moyenne requiert une forte dextérité en raison de la finesse et de l’extrême sensibilité des structures impliquées. L’apprentissage de cette chirurgie est délicat et est effectué en fin d’internat. Ce travail porte sur le développement d’un modèle mécanique en éléments finis des différentes structures qui composent l’oreille moyenne dans le but de concevoir un simulateur chirurgical. Les objectifs sont de fournir un outil polyvalent pour l’apprentissage et l’entraînement de la chirurgie par la chirurgie, ainsi que d’offrir la possibilité d’explorer et d’évaluer de nouvelles procédures chirurgicales liées à l’apport de nouvelles technologies telles que la robotique. Le comportement mécanique du modèle développé a été confronté avec succès aux observations réalisées sur des pièces anatomiques. Afin d’obtenir un outil de simulation qui tient compte des différences anatomiques de chaque patient, une méthode de déformation de l’atlas mécanique basée sur l’imagerie clinique a été implémentée. La simulation du fraisage de la platine de l’étrier ainsi que le placement d’une prothèse ossiculaire ont été réalisés à l’aide d’une interface haptique et d’une nouvelle approche du rendu. Ce travail constitue ainsi le premier simulateur virtuel de chirurgie de l’oreille moyenne. Enfin le robot télé-opéré, RobOtol, a été intégré au simulateur afin d’étudier de nouvelles procédures chirurgicales robotisées. La simulation permet, en outre, d’entraîner les otologistes à l’utilisation du robot. Le travail effectué porte essentiellement sur la simulation interactive réaliste des procédures chirurgicales complexes ainsi que sur la formation et la robotisation de la microchirurgie otologique.
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https://hal.inria.fr/tel-01105262/file/GK_Thesis_s.pdf BibTex

2013

Journal articles

titre
Conception d’un atlas mécanique pour la simulation de la chirurgie de l’oreille moyenne
auteur
Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Evelyne Ferrary, Christian Duriez, Stéphane Cotin, Olivier Sterkers
article
Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2013, 130 (4), pp.A76
resume
no abstract
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titre
Évaluation de techniques chirurgicales innovantes pour l’otospongiose à l’aide d’un simulateur chirurgical
auteur
Yann Nguyen, Guillaume Kazmitcheff, Mathieu Miroir, Evelyne Ferrary, Christian Duriez, Stéphane Cotin, Olivier Sterkers
article
Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2013, 130 (4), pp.A76
resume
no abstract
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titre
Validation Method of a Middle Ear Mechanical Model to Develop a Surgical Simulator
auteur
Guillaume Kazmitcheff, Mathieu Miroir, Yann Nguyen, Evelyne Ferrary, Olivier Sterkers, Stéphane Cotin, Christian Duriez, Alexis Bozorg-Grayeli
article
Audiology and Neurotology, Karger, 2013, <10.1159/000356301>
resume
Ossicular surgery requires a high dexterity for the manipulation of the fragile and small middle ear components. Currently, the only efficient technique for training residents in otological surgery is through the use of temporal bone specimens, where any existing surgical simulator does not provide useful feedback. The objective of this study was to develop a finite-element model of the human ossicular chain dedicated to surgical simulation and to propose a method to evaluate its behavior. A model was developed based on human middle ear micromagnetic resonance imaging. The mechanical parameters were determined according to published data. To assess its performance, the middle ear transfer function was analyzed. The robustness of our model and the influence of different middle ear components were also evaluated at low frequency by static force pressure simulations. The mechanical behavior of our model in nominal and pathological conditions was in good agreement with published human temporal bone measurements. We showed that the cochlea influences the transfer function only at high frequency and could be omitted from a surgical simulator. In addition, surgeons were able to manipulate the validated middle ear model with a real-time haptic feedback. The computational efficiency of our approach allowed real-time interactions, making it suitable for use in a training simulator.
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Conference papers

titre
Registration of a Validated Mechanical Atlas of Middle Ear for Surgical Simulation
auteur
Guillaume Kazmitcheff, Christian Duriez, Mathieu Miroir, Yann Nguyen, Olivier Sterkers, Alexis Bozorg-Grayeli, Stéphane Cotin
article
MICCAI 2013, 2013, Nagoya, Japan. 2013
resume
This paper is centered on the development of a new train- ing and rehearsal simulation system for middle ear surgery. First, we have developed and validated a mechanical atlas based on finite element method of the human middle ear. The atlas is based on a microMRI. Its mechanical behavior computed in real-time has been successfully val- idated. In addition, we propose a method for the registration of the mechanical atlas on patient imagery. The simulation can be used for a rehearsal surgery with the geometrical anatomy of a given patient and with mechanical data that are validated. Moreover, this process does not necessitate a complete re-built of the model.
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https://hal.inria.fr/hal-00838431/file/paper_313.pdf BibTex

2012

Journal articles

titre
From conception to application of a tele-operated assistance robot for middle ear surgery
auteur
Yann Nguyen, Mathieu Miroir, Guillaume Kazmitcheff, Evelyne Ferrary, Olivier Sterkers, Alexis Bozorg-Grayeli
article
Surgical Innovation, SAGE Publications (UK and US), 2012, 19 (3), pp.241–251. <10.1177/1553350611426012>
resume
The authors’ goal was to design and evaluate a robot dedicated to middle ear surgery. Specifications for dimensions, forces, and kinematics were collected, based on the otosclerosis procedure. The robot structure has a compact geometry with 3 linear and 3 rotatory motors. It is remotely piloted via a robot-surgeon interface under operative microscope. Ability to reach anatomical targets, to perform stapedectomy, and to place prosthesis in a model of stapedotomy was evaluated by 6 surgeons. Multiple anatomical targets in the middle ear could be successfully reached without damaging surrounding structures. The robot could be used under operative microscope with minimal visual field impairment or jointly with a 4-mm endoscope through the external auditory canal to perform stapedectomy in temporal bone specimens. Prosthesis could be inserted in the stapedotomy model. The assistance robot is the first prototype with 6 degrees of freedom, a kinematic structure, and dimensions optimized for tele-operated middle ear surgery.
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titre
Friction force measurement during cochlear implant insertion: application to a force-controlled insertion tool design
auteur
Mathieu Miroir, Yann Nguyen, Guillaume Kazmitcheff, Evelyne Ferrary, Olivier Sterkers, Alexis Bozorg-Grayeli
article
Otology and Neurotology, Lippincott, Williams & Wilkins, 2012, 33 (6), pp.1092–1100. <10.1097/MAO.0b013e31825f24de>
resume
no abstract
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titre
Ear robot surgeons
auteur
Mathieu Miroir, Yann Nguyen, Guillaume Kazmitcheff, Evelyne Ferrary, Olivier Sterkers
article
Biofutur, Elsevier – Cachan : Lavoisier, 2012, pp.43–44
resume
no abstract
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titre
Des robots chirurgiens de l’oreille
auteur
Mathieu Miroir, Yann Nguyen, Guillaume Kazmitcheff, Evelyne Ferrary, Olivier Sterkers
article
Biofutur, Elsevier – Cachan : Lavoisier, 2012, 31 (337), pp.43–44
resume
Née dans les années 1980, la chirurgie assistée par ordinateur est aujourd’hui implantée dans de nombreux blocs opératoires. Son objectif n’est pas de remplacer le praticien mais de lui apporter une aide « intelligente » en améliorant son pouvoir de perception, de décision et d’action. Elle a également apporté des améliorations notables pour le patient en limitant la douleur, la taille des cicatrices et les complications post-opératoires.
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titre
Mesure des forces d’insertions durant l’implantation cochléaire: intérêt pour le chirurgien
auteur
Yann Nguyen, Mathieu Miroir, Guillaume Kazmitcheff, Evelyne Ferrary, Julie Bensimon, Olivier Sterkers, Alexis Bozorg-Grayeli
article
Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2012, 129 (4), pp.A90
resume
no abstract
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titre
Évaluation des performances des chirurgiens pour un abord de la fenêtre ronde par des rochers artificiels
auteur
S Touhami, Yann Nguyen, Guillaume Kazmitcheff, Mathieu Miroir, Olivier Sterkers, Alexis Bozorg-Grayeli
article
Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2012, 129 (4), pp.A45–A46. <10.1016/j.aforl.2012.07.119>
resume
no abstract
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titre
Mise au point d’un simulateur et d’un modèle mécanique de l’oreille moyenne pour la chirurgie ossiculaire
auteur
Guillaume Kazmitcheff, Mathieu Miroir, Christian Duriez, Yann Nguyen, Stéphane Mazalaigue, Evelyne Ferrary, Julie Bensimon, Olivier Sterkers, Stéphane Cotin, Alexis Bozorg-Grayeli
article
Annales françaises d’Oto-rhino-laryngologie et de Pathologie Cervico-faciale, Elsevier, United States, 2012, 129 (4), pp.A77. <10.1016/j.aforl.2012.07.204>
resume
no abstract
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titre
Cochlear implant insertion forces in microdissected human cochlea to evaluate a prototype array
auteur
Yann Nguyen, Mathieu Miroir, Guillaume Kazmitcheff, Jasmine Sutter, Morad Bensidhoum, Evelyne Ferrary, Olivier Sterkers, Alexis Bozorg Grayeli
article
Audiology and Neurotology, Karger, 2012, 17 (5), pp.290
resume
Cochlear implant array insertion forces are potentially related to cochlear trauma. We compared these forces between a standard (Digisonic SP; Neurelec, Vallauris, France) and an array prototype (Neurelec) with a smaller diameter. The arrays were inserted by a mechatronic tool in 23 dissected human cochlea specimens exposing the basilar membrane. The array progression under the basilar membrane was filmed together with dynamic force measurements. Insertion force profiles and depth of insertion were compared. The recordings showed lower insertion forces beyond 270° of insertion and deeper insertions with the thin prototype array. This will potentially allow larger cochlear coverage with less trauma.
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2011

Journal articles

titre
A025 Evaluation of insertions forces of an atraumatic array prototype in a model of micro dissected cochlea
auteur
Yann Nguyen, Mathieu Miroir, Guillaume Kazmitcheff, Evelyne Ferrary, Olivier Sterkers, Ab Grayeli
article
International Journal of Pediatric Otorhinolaryngology, Elsevier, 2011, 75 (1), pp.5. <10.1016/S0165-5876(11)70026-X>
resume
no abstract
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Conference papers

titre
Evaluation of command modes of an assistance robot for middle ear surgery
auteur
Guillaume Kazmitcheff, Mathieu Miroir, Yann Nguyen, Charlotte Célérier, Stéphane Mazalaigue, Evelyne Ferrary, Olivier Sterkers, Alexis Bozorg-Grayeli
article
International Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ, Sep 2011, San Francisco, United States. pp.2532–2538, 2011, <10.1109/IROS.2011.6094634>
resume
RobOtol is a micro-surgical tele operated system designed to assist middle ear surgery. A new prototype, with an improved controller system and mechanical enhancement is presented. Surgeons and engineers evaluated the robot by tasks specific to middle ear surgery with two command modes (position-velocity and position-position) and by questionnaires. There was no prevailing command mode. A human robot interface was developed to offer easy and fast intra operative adaptation of the command mode to surgeons’ preferences and specific situations.
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2010

Conference papers

titre
Super paramagnetic nanoparticles delivery through a microcatheter by solenoids
auteur
Yann Nguyen, Mathieu Miroir, Guillaume Kazmitcheff, Evelyne Ferrary, Olivier Sterkers, Ab Grayeli
article
Nano/Molecular Medicine and Engineering (NANOMED), 2010 IEEE 4th International Conference on, 2010, Unknown, Unknown or Invalid Region. pp.153–157, 2010
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