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Inria Senior Research Scientist
Short bioI received the M.S. and Ph.D. degrees in control systems and signal processing from the National Polytechnic Institute of Lorraine in 1999 and 2003, respectively. My Ph.D. research work was carried out with the AVR team (Control Vision and Robotics) in the LSIIT lab (Laboratoire des Sciences de l’Image de l’Informatique et de la Télédétection) that is now iCube at Strasbourg. From 2002 to 2004, I was an assistant associate professor for undergraduate student lectures in electronics, control, and computer programming with Strasbourg University. In 2004, I joined Inria as an Inria Research Scientist in the Lagadic group. During the year 2006, I did a 9 months research stay with the Computer Integrated Surgical Systems and Technology Engineering Research Center (ERC CISST) in The Johns Hopkins University . I defended a habilitation thesis in Signal Processing in December 2012. Since 2018, I am in the Rainbow group at IRISA (UMR 6074) and Inria Rennes. My research focuses on the development of methods for visual servoing using the ultrasound modality. I am particularly interested in the development of generic methodological solutions to control all the degrees of freedom of an ultrasound probe mounted on a robot manipulator. The resulting applications are mainly in the context of medical robotics. Aspects of my work involves modeling the interaction between the probe and its environment, determination of visual information relevant to control the system and ultrasound image processing required to extract visual information in real time. My research interests include medical robotics, computer-assisted systems in the medical and surgical fields, and more particularly the control of medical robots by visual servoing using ultrasound images. Since 2020, I have focused my research on the elaboration of a new category of visual servoing approaches aimed at enabling robots to autonomously apply controlled deformations to non-rigid objects during manipulation. Associate Editor of the IEEE Transactions on Robotics (T-RO) from July 2019 until June 2022. Associate Editor of the IEEE Robotics and Automation Letters (RA-L) from June 2015 until July 2019. PhD studentsMandela Ouafo Fonkoua, co-advised with François Chaumette |
