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IEEE/ASME Advanced Intelligent Mechtronics 2014


Tutorial on Mechatronics for medical robotics

How to succeed in medical mechatronic development

Monday, July 7th, 2014

Besançon, France


The development of robotic assistance for surgery and medicine has become a mature field of research, and today an increasing number of successful products is emerging on the market. Contrary to industrial robotics, medical and surgical robotics require custom hardware and software solutions for each device. Mechatronic design can indeed be hindered by the existence of close interactions with the physician or the surgeon, the safety concerns, the operating room constraints and the interactions with an in vivo environment.

In this tutorial, we aimed at giving the audience some key elements to succeed in the development of a medical robotic assistance, and help to build a successful mechatronic approach. To do so, researchers with recognized expertise in design and control for the medical context were gathered in this full day tutorial. 


List of topics

Mechatronics, Manipulator design, compliant mechanisms, SMA, visual servoing with ultrasound imaging, predictive control, contactless manipulation




  • System specifications from user requirements analysis, and the project development through the user feedback
    R. Moreau, Ampère, Lyon, France
  • Architecture selection and the compatibility with the operating room constraints
    N. Hungr, TIMC, Grenoble, France
  • Actuation strategies and the use of non conventional actuation technologies
    J. Szewczyk, ISIR, Paris, France
  • Compliant mechanisms for high accuracy medical applications
    P. Renaud, ICube, Strasbourg, France
  • Mechatronic design and control of endoscopic laser surgery systems
    N. Andreff, Institut FEMTO-ST, Besançon, France
  • Haptic Teleoperation and Concentric Tube Robot for Robot-Assisted Surgery
    C. Liu, LIRMM, Montpellier, France
  • Medical robot guidance based on ultrasound imaging and visual servoing
    A. Krupa, INRIA Rennes, France


This tutorial was supported by two meta-projects funded by the french research agency (ANR): Labex CAMI (2012-2020) focuses on Computer-Assisted Medical Interventions and Labex ACTION (2012-2020) is dedicated to Integrated Smart Systems.




Pierre Renaud


IRCAD, 1 Place de l’hôpital, 67091 Strasbourg, France

+33-3 88 11 91 47


Nicolas Andreff


Institut FEMTO-ST, 24 rue Alain Savary, 25000 Besançon, France

+33-3 81 40 29 61


Pierre Renaud received the M.Sc. degree in mechanics and materials from the Ecole Normale Supérieure de Cachan, Cachan, France, in 2000 and the Ph.D. degree in robotics from the Clermont-Ferrand University, Clermont-Ferrand, France.
He is currently a Professor at Institut National des Sciences Appliquées, Strasbourg, France, and he is the head of the AVR research group, ICube laboratory. His research interests include medical robotics, robot design, additive manufacturing, and mechatronics.

Nicolas Andreff received the Engineer degree (~M.Sc.) in 1994 from the Ecole Nationale Supérieure d’Electronique, d’Electrotechnique, d’Informatique et d’Hydraulique de Toulouse, (Toulouse, France); the Ph.D. degree in 1999 in computer graphics, computer vision and robotics from the Institut National Polytechnique de Grenoble, (Grenoble, France) and the Habilitation degree in 2006 in Vision and Robotics from Université Blaise Pascal (Clermont-Ferrand, France).
Since 2009, he has been a Professor at Université de Franche-Comté (Besançon, France) and in 2012, he founded the MiNaRoB (Biomedical Micro-/Nano-Robotics) team, at the AS2M department of FEMTO-ST Institute. His current research interests are dedicated to intracorporeal microrobotics.