Supervisory authorities

CNRS Ecole Centrale de Lyon Université de Lyon Université Lyon 1 INSA de Lyon

Our partners



Home > Thèses et HDR > Thèses en 2019

25/10/2019 - Thibault SENAC

by Laurent Krähenbühl - published on , updated on


Ajouter un événement iCal

Thibault Sénac defends his PhD on Oct. 25, 2019 at 09:15 AM.
Place : Ecole Centrale de Lyon, Bâtiment W1, Amphi 201.

Title : PériSIM : an haptic simulator to learn the epidural anaesthesia procedure

Jury :
Prof. Christine BARTHOD (SYMME Polytec’h Annecy-Chambéry)
Prof. Gérard POISSON (PRISME IUT Bourges)
Mme Marie-Aude VITRANI, HDR (ISIR Sorbonne Université Paris)
Prof. Franck PLESTAN (IRCYNN ECNantes)
M. Laurent KRÄHENBÜHL, DR CNRS (Ampère, ECLyon)
M. Arnaud LELEVE, HDR (Ampère, INSA Lyon)
M. Richard MOREAU (Ampère, INSA Lyon)
Invités :
M. Christian BAUER et M. Florent SIGWALT (Hospices Civils, Lyon)

Abstract :
The epidural anesthesia is a common medical gesture that consists in a local anesthesia of the lower part of the body. It is usually performed at childbirth to relieve the future mother from birthing pain. Although the gesture itself is simple, it requires a long training to be mastered by anyone. Current training tools however do not provide sufficient training quality, and most of the time the first epidural anesthesia is performed directly on a patient. This, not only increase the risk of an error happening during the procedure but it also increases the level of stress for the novices.

This thesis propose a haptic simulator composed of an electrical haptic interface coupled with a pneumatic cylinder to create a complete a realistic simulation of the procedure. In this work, we propose control laws to use a pneumatic cylinder as a syringe emulator. The control of the cylinder is achieved using a servovalve and a backstepping approach to greatly increase the realism of the simulation. The electrical haptic interface is used to reproduce a needle insertion through tissues in the back of a patient. The overall objective is to put together a complete a realistic simulation of different patient types. This project has lead to the development of a complete haptic simulator dedicated to reproduce the epidural anesthesia gesture. The simulator has been tested in a test campaign involving both novices and experts. This campaign allowed to get enough data points to undertake the implementation of a gesture evaluation method

Key Words :
Simulator, Haptics, Robotics, Control, Gesture evaluation, Backstepping, Epidural Anaesthesia

View online : Texte complet