Etienne Dombre


CNRS Director of Research, Dr. in Robotics

Tel +33 (0)4 67 41 85 58
Fax +33 (0)4 67 41 85 00
dombre@lirmm.fr
www.lirmm.fr/~dombre

LIRMM, 161 rue Ada, 34095 Montpellier Cedex 5, France

 

Research Interests
  • Robots design and control
  • Robotic systems for medical applications involving force control

 

Bio-Sketch

 

Etienne Dombre is born in 1948. He obtained his PhD degree in Automatic control in 1975 and his "Thèse d’Etat" in 1981, both from University of Montpellier, France. He is a Directeur de Recherche from CNRS (French National Scientific Research Center), currently in the DEXTER team of the Laboratoire d’Informatique, Robotique et Microélectronique de Montpellier (LIRMM).

Up to 1994, his research interest was in CAD-CAM robotics with emphasis on robot simulation, off-line programming, workcell design, process simulation, robot calibration. Since then, he moved to medical robotics with special interest on design of intrinsically safe robots, control and planning. He has been responsible of several research projects about 3D reconstruction of arteries, skin harvesting for reconstructive surgery, and more recently about minimally invasive surgery. He is co-organizer of a Summer School of Surgical Robotics, a two-yearly event since 2003 that gathers worldwide about fifty PhD students and senior researchers a whole week in Montpellier (http://www.lirmm.fr/uee09/).

He is chair of the Manufacturing Scientific Committee of Transfert LR, a regional agency to promote technology transfer. He his also head of the GDR Robotics (Research Group of the CNRS), a cluster of up to 60 French teams / 800 people involved in Robotics.

He is co-author of 8 books and has about a hundred refereed scientific publications. He has been co-head and head of the Robotics Department of the LIRMM from 1995 to 2005.

 

Recent major papers and books

 

·       M. DOMINICI, P. POIGNET, E. DOMBRE, R. CORTESAO, O. TEMPIER "Compensation for 3D physiological motion in robotic-assisted surgery using a predictive force controller: experimental results", Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'09, St. Louis, MO, USA, October 11-15, 2009, pp. 2634-2639.

·       O. CARTIAUX, L. PAUL, P.-L. DOCQUIER, B.G. FRANCQ, B. RAUCENT, E. DOMBRE, X. BANSE, "Accuracy in planar cutting of bones: an ISO-based evaluation", The Int. J. Medical Robotics and Computer Assisted Surgery, Vol. 5, 2009, pp. 77-84.

·       B. HERMAN, B. DEHEZ, K. TRAN DUY, B. RAUCENT, E. DOMBRE, S. KRUT, "Design and preliminary in vivo validation of a robotic laparoscope holder for minimally invasive surgery", The Int. J. Medical Robotics and Computer Assisted Surgery, Vol 5, 2009, pp. 319-326.

·       M. SAUVEE, P. POIGNET, E. DOMBRE, "Ultrasound image-based visual servoing of a surgical instrument through nonlinear model predictive control", The Int. J. of Robotics Research, Vol. 27(1), pp. 25-40, 2008.

·       M. DOMINICI, P. POIGNET, E. DOMBRE, "Compensation of physiological motion using linear predictive force control", Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'08, Nice, September 22-26, 2008.

·       R. RIZK, S. KRUT, E. DOMBRE, "Design of a 3D gravity balanced orthosis for upper limb", Proc. Int. Conf. on Robotics and Automation, ICRA’08, Pasadena, CA., USA, May 19-23, 2008, pp. 2447-2452.

·       F. VAN MEER, J. PHILIPPI, D. ESTEVE, E. DOMBRE, "Generic multi-channel compact plastic joint for surgical instrumentation", Mechatronics, Vol. 17(10), pp. 562-569, Dec. 2007.

·       E. DOMBRE, W. KHALIL : "Robot manipulators: modeling, performance analysis and control", ISTE Ltd., London, ISBN 978-16905209-10-1, 2007, 448 p.

·       R. CORTESAO, W. ZARRAD, P. POIGNET, O. COMPANY, E. DOMBRE, "Haptic control design for robotic-assisted minimally invasive surgery", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'06, Beijing, China, October 9-15, 2006, pp. 454-459.

·       G. DUCHEMIN, P. MAILLET, P. POIGNET, E. DOMBRE, F. PIERROT, "A hybrid position/force control approach for identification of deformation models of skin and underlying tissues", IEEE Transactions on Biomedical Engineering, Vol. 52(2), pp. 160-170, 2005.

·       M. MICHELIN, P. POIGNET, E. DOMBRE, "Dynamic task / posture decoupling for minimally invasise surgery", 9th Int. Symp. on Experimental Robotics, ISER’04, Singapore, June 18-21 2004.

·       E. DOMBRE, G. DUCHEMIN, P. POIGNET, F. PIERROT, "DERMAROB: a safe robot for reconstructive surgery", IEEE Transactions on Robotics and Automation, Special Issue on Medical Robotics, Vol. 19(5), pp. 876-884, 2003.

·       P. POIGNET, E. DOMBRE, F. PIERROT, O. MERIGEAUX, G. DUCHEMIN, "Design and control issues for intrinsically safe medical robots", Industrial Robots, Vol. 30 (1), pp. 83-88, 2003.

·       G. DUCHEMIN, E. DOMBRE, F. PIERROT, P. POIGNET, "Robotized skin harvesting", in Experimental Robotics VIII, Springer Tracts in Advanced Robotics, Springer-Verlag, Berlin, B. Siciliano & P. Dario (Eds), Vol. 5, pp. 404-413, January 2003, ISBN 3-540-00305-3.

·       W. KHALIL, E. DOMBRE : "Modelisation, identification and control of robots", Hermes Penton Science, London, ISBN 1-90399-613-9, 2002, 480 p.

·       D. BARRAL, J.-P. PERRIN, E. DOMBRE, A. LIEGEOIS, "Simulated annealing combined with a constructive algorithm for optimising assembly workcell layout", Int. Journal of Advanced Manufacturing Technology, Vol. 17, pp. 593-602, 2001.

·       G. DUCHEMIN, E. DOMBRE, F. PIERROT, E DEGOULANGE, "SCALPP: a 6-dof robot with a non-spherical wrist for surgical applications", in Advances in Robot Kinematics, Kluwer Academic Publishers, Dordrecht, The Netherlands, J. Lenarčič & M.M. Stanišić (Eds), pp. 165–174, June 2000, ISBN 0-7923-6426-0.

·       F. PIERROT, E. DOMBRE, E. DEGOULANGE, L. URBAIN, P. CARON, S. BOUDET, J. GARIEPY, J.-L. MEGNIEN : "Hippocrate: a safe robot arm for medical applications with force feedback", Medical Image Analysis (MedIA), Special Issue on Medical Robotics and Computer Assisted Surgery, Vol. 3(3), pp. 285-300, 1999.

 

Summer schools in Surgical Robotics

Four Summer Schools have been organized in since 2003 in Montpellier . They are addressed to PhD students, post-docs and researchers already involved in Surgical robotics or interested by the new challenges of such an emerging area interconnecting technology and surgery.

2003: http://www.lirmm.fr/manifs/UEE/accueil.htm

2005: http://www.lirmm.fr/UEE05/

2007: http://www.lirmm.fr/UEE07/

2009: http://www.lirmm.fr/uee09/

 

 

 

Last Update: May 06, 2010