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Documents
Affiliations actuelles
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Identifiants chercheurs
nabil-zemiti-
0000-0003-2052-6037
- IdRef : 110353900
Présentation
#### **Zemiti Nabil**
Associate Professor - HDR
Montpellier University
Laboratoire LIRMM - UMR 5506 - Département Robotique
161 rue Ada 34095 - Montpellier Cedex 5 - France
Bureau : 1.45 - case courrier : CC477
Phone: +33 4 67 41 86 78
Emails: nabil.zemiti@lirmm.fr nabil.zemit@umontpellier.fr
Team/Dep: DEXTER team - Robotics Department
Short Bio:
----------
I'm currently Associate Professor at the Robotics Department of the LIRMM Lab., University of Montpellier (UM). My research and teaching interests are computer assisted medical interventions and sensor based control for robotic manipulators. In this topic, I serve as a guest lecturer at Central-Supélec since 2010. Since the beginning of my career (2008), I regularly supervises Master thesis and co-supervises Doctoral thesis and Post-docs. I'm also co-organizer with P. Poignet of [ the European Summer Schools in Surgical Robotics](https://www.lirmm.fr/sssr-2019/ "SSSR") since 2013.
Since 2017, I'm in charge of the surgical robotics translational research activities and platforms at the Medical School of Montpellier [ROBMED](https://www.lirmm.fr/robmed-plateforme "SSSR").
Since 2019, I'm deputy director of Labex Numev, member of the management-board of Labex CAMI (since 2012), member of the Scientific and Pedagogic Committee (CPS) and co-leader of the integrated project (IP) "Computer Assisted and Robotized Surgery " of Labex NUMEV (since 2016).
### About my PhD Thesis
From October 2001 until September 2006, I was a Ph.D. student and researcher at the[ Robotics Lab. of Paris (LRP)](http://www.isir.upmc.fr/ "ISIR") - Paris 6 University, Paris, France, I great lab to work at!
The main results of this work are:
- Design of a force controlled laparoscopic surgical robot without distal force sensing ;
- Force control of kinematically constrained manipulators (defective robots) using the passivity approach ;
- Validation of the force control scheme during in-vivo and in-vitro experiments ;
- Force feedback teleoperation of the designed surgical robot.
### About my Post-Doc
From October 2006 until August 2008, I was a Post doctoral Fellow at the[ TIMC-IMAG Laboratory (CAMI team)](https://www-timc.imag.fr/en/gmcao "TIMC-IMAG") - Joseph Fourier University, Grenoble, France. Really a great lab to work at too!
Within the CAMI team, I was involved in several robotic projects, mainly in the area of interventional radiology and image guided percutaneous interventions.
The main results of these projects are:
- Design and control of a CT and MR-compatible puncture robot;
- Design of an Ultrasound-Guided Robotic Brachytherapy Needle-Insertion System.
### Current research activities (Under construction)
#### Medical and surgical gestures guidance
##### Augmented Reality Assistance for Robotized Tumor Resection Gesture: applications to tongue-base and digestive surgeries
- PhD Thesis Jun Shen (2015-2019) - [Labex CAMI](http://cami-labex.fr/ "Labex CAMI")
- Supervisors : Philippe Poignet & Nabil Zemiti & Jean-Louis Dillenseger (LTSI, Univ. Rennes)
- Medical Collaborators/Supervisors : Renaud Garrel PU-PH (ENT Department, CHU Montpellier) & Philippe Rouanet PU-PH (ICM Val d’Aurelle, Montpellier)
- Medical collaborators/Master students: L. Abramovici & A. Viquesnel (ENT Department, CHU Montpellier), Ch.Taoum (Cancer Institute of Montpellier - ICM Val d’Aurelle, Montpellier)
##### Optimisation of fusion Imaging for real-time US with CT for intra-cochlear navigation (OPTIFUSION Project 2018-2021)
- PhD Thesis Lucas Lavenir
- Funded by "Agir pour l'Audition" Foundation
- Supervisors: Philippe Poignet & Nabil Zemiti
- Medical collaborator/Supervisor: Frederic Venail, PU-PH, ENT Dep. CHU Montpellier
##### Robot-assisted Cranio-Maxillo-Facial surgery (MedMax1 & MedMax2 Projects 2017-2019)
- Funded by "Gueules Cassées" Foundation
- Supervisors: Philippe Poignet & Nabil Zemiti & Dr. M De Boutray
- Medical collaborators/Master students: Dr. A. Damécourt & Dr. M De Boutray (CMF Department– CHU Montpellier)
##### Robot-assisted and Augmented Reality-based Shoulder surgery
- Supervisors: Philippe Poignet, Nabil Zemiti & Gérard Subsol
- Medical Collaborator/Supervisor: Pr B. COULET, M.D; Ph.D (Service de Chirurgie de la Main, du Membre Supérieur
CHU Lapeyronie, UFR Médecine, UM)
- Medical collaborator/Master student: Dr. P-E Chammas (Resident in Orthopedic surgery - CHU Montpellier)
##### Artificial palpation elastography for increased perception in transoral tongue base cancer surgery
- PhD Thesis of Laure Koebel ([I-Site Muse](https://muse.edu.umontpellier.fr/ "Isite Muse") - UM) 2018-2021
- Supervisors: Yassine Haddab & Nabil Zemiti
- Medical Collaborator/Supervisor: Pr. Renaud Garrel, PU-PH, ENT Dep. CHU Montpellier
#### Gesture learning, training and evaluation
##### PhD Fabien Despinoy ([CAMI Labex](http://cami-labex.fr/ "CAMI Labex"), Collaboration between LIRMM and LTSI Rennes)
- [Unsupervised trajectory segmentation for surgical gesture recognition in robotic training](https://dx.doi.org/10.1109/TBME.2015.2493100)
- [Evaluation of Contactless Human-Machine Interface for Robotic Surgical Training](https://dx.doi.org/10.1007/s11548-017-1666-6)
##### Post-doc Gustavo Gil (CAMI Labex, Collaboration between LIRMM and LTSI Rennes)
- [How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance ("Best poster Award at *Hamlyn Symposium on Medical Robotics*")](https://hal-lirmm.ccsd.cnrs.fr/lirmm-02093730 "Gil et al halmyn")
##### PhD mobility of [Miss Juie Walker ](https://juliemwalker.wixsite.com/home)([Chateaubriand Fellowship Program](https://www.chateaubriand-fellowship.org/)) Collaboration with [Pr. Allison Okamura](http://charm.stanford.edu/Main/AllisonOkamura) (Charm Lab. Stanford Uni.) Sep 2017-March 2018
- [Holdable Haptic Device for 4-DOF Motion Guidance ](https://hal-lirmm.ccsd.cnrs.fr/lirmm-02093717 "Walker et al IEEE haptics")
#### Design and control of medical devices
##### Robotized Flexible Ureteroscopy and Active Vision-Based Physiological Motion Compensation
- CIFRE PhD Thesis D. Cavard (2015/18)
- Supervisors : Philippe Poignet & Nabil Zemiti
- Medical Collaborators CHU Nîmes: Stéphane Droupy Armand Chevrot
- Industriel Partners: Sterlab (MxM Company)
- CE marked robot in May 2018
### Past research projects (since 2008)
- ##### Araknes (FP7 UE project - 05/2008 - 04/2012)
- ##### UScomp (ANR ContInt - 03/2009 - 02/2012 )
- ##### ROBACUS (ANR TecSan - 03/2012 - 08/2016)
#### **Zemiti Nabil**, Maître de Conférences - HDR
Université de Montpellier
Laboratoire LIRMM - UMR 5506 - Département Robotique
161 rue Ada 34095 - Montpellier Cedex 5 - France
Bureau : 1.45 - case courrier : CC477
Phone: +33 4 67 41 86 78
Emails: nabil.zemiti@lirmm.fr nabil.zemit@umontpellier.fr
Team/Dep: DEXTER team - Robotics Department
Domaines de recherche
Traitement du signal et de l'image [eess.SP]
Automatique / Robotique
Publications
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Providing automatic formative feedback along surgical skill assessmentSPIE MEDICAL IMAGING 2024 - Image-Guided Procedures, Robotic Interventions, and Modeling, Feb 2024, San Diego, CA, United States. pp.72, ⟨10.1117/12.3006508⟩
Communication dans un congrès
lirmm-04548504v1
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sEMG-based Motion Recognition for Robotic Surgery Training - A Preliminary StudyEMBC 2023 - 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Jul 2023, Sydney, Australia. ⟨10.1109/EMBC40787.2023.10340047⟩
Communication dans un congrès
lirmm-04192619v1
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Design optimization of a soft micro-robot for medical interventionICAR 2023 - 21st IEEE International Conference on Advanced Robotics, Dec 2023, Abu Dhabi, United Arab Emirates. pp.291-296, ⟨10.1109/ICAR58858.2023.10406498⟩
Communication dans un congrès
hal-04310368v1
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Fast and Automatic Optical 3D Cameras Calibration for Contactless Surface Registration in Computer Assisted SurgeryCRAS 2022 - Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Napoli, Italy
Communication dans un congrès
lirmm-03713605v1
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Virtual lumbar puncture simulators: where are we today?ENC 2022 - IEEE Mexican International Conference on Computer Science, Aug 2022, Xalapa, Mexico. pp.1-8, ⟨10.1109/ENC56672.2022.9882910⟩
Communication dans un congrès
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Geometric Calibration of a New Miniaturized Endoscopic Ultrasound ProbeICAR 2021 - 20th International Conference on Advanced Robotics, Dec 2021, Ljubljana, Slovenia. pp.228-233, ⟨10.1109/ICAR53236.2021.9659367⟩
Communication dans un congrès
hal-03519968v1
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Simultaneous haptic guidance and learning of task parameters during robotic teleoperationICRA 2021 - 38th IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China. pp.3619-3625, ⟨10.1109/ICRA48506.2021.9560938⟩
Communication dans un congrès
lirmm-03251658v1
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How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance. ("Best Poster Award")HSMR: Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom
Communication dans un congrès
lirmm-02093730v1
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Intraoperative Ultrasound-based Augmented Reality GuidanceSURGETICA, Jun 2019, Rennes, France
Communication dans un congrès
lirmm-02105828v1
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Holdable Haptic Device for 4-DOF Motion GuidanceWHC 2019 - 1st IEEE World Haptics Conference, Jul 2019, Tokyo, Japan. pp.109-114, ⟨10.1109/WHC.2019.8816171⟩
Communication dans un congrès
lirmm-02093717v1
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Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM ModelRO-MAN 2019 - 28th IEEE International Conference on Robot and Human Interactive Communication, Oct 2019, New Delhi, India. pp.1-7, ⟨10.1109/RO-MAN46459.2019.8956453⟩
Communication dans un congrès
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Towards a novel man-machine interface to speed up training on robot-assisted surgerySURGETICA, Jun 2019, Rennes, France
Communication dans un congrès
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Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic SurgeryCARS 2018 - 32nd International Congress and Exhibition on Computer Assisted Radiology and Surgery, Jun 2018, Berlin, Germany. pp.S45-S46, ⟨10.1007/s11548-018-1766-y⟩
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lirmm-01828409v1
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Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked MarkerEMBC 2018 - 40th International Conference of the IEEE Engineering in Medicine and Biology Society, Jul 2018, Honolulu, Hawaii, United States. pp.878-882, ⟨10.1109/EMBC.2018.8512406⟩
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lirmm-01828628v1
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Augmented Reality Visualization Based On 3D UltrasonographySURGETICA, Nov 2017, Strasbourg, France
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Towards unified dataset for Modeling and Monitoring of Computer Assisted Medical InterventionsSURGETICA, Nov 2017, Strasbourg, France
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Simplified adaptive path planning for percutaneous needle insertionsICRA 2015 - 32nd IEEE International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1782-1788, ⟨10.1109/ICRA.2015.7139429⟩
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Needle Deflection Prediction Using Adaptive Slope ModelICAR 2015 - 17th International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65, ⟨10.1109/ICAR.2015.7251434⟩
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lirmm-01275351v1
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Modelling and Control of an ERF-based Needle Insertion Training PlatformIPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.31-40, ⟨10.1007/978-3-319-07521-1_4⟩
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lirmm-00941009v1
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A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures PlanningCARS 2014 - 28th International Congress and Exhibition on Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan
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Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic PlatformIROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221, ⟨10.1109/IROS.2014.6942712⟩
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lirmm-01078465v1
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Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic TelesurgeryIPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.21-30, ⟨10.1007/978-3-319-07521-1_3⟩
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lirmm-01086444v1
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A novel contactless human-machine interface for laparoscopic telesurgerySURGETICA, Dec 2014, Chambéry, France
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Control of meso-robots for endoluminal SurgeryCRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy
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lirmm-00958690v1
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Soft tissue force control using active observers and viscoelastic interaction modelICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.4660-4666, ⟨10.1109/ICRA.2012.6224958⟩
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lirmm-00779205v1
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The impact of interaction model on stability and transparency in bilateral teleoperation for medical applicationsICRA: International Conference on Robotics and Automation, May 2012, St. Paul, MN, United States. pp.1607-1613, ⟨10.1109/ICRA.2012.6225314⟩
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lirmm-00808388v1
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Active stabilization of ultrasound image for robotically-assisted medical proceduresHamlyn Symposium on Medical robotics, Jul 2012, London, United Kingdom
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hal-00751760v1
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A Case Study of Safety in the Design of Surgical Robots: The ARAKNES PlatformIAS: Intelligent Autonomous Systems, Jun 2012, Jeju Island, South Korea. pp.121-130, ⟨10.1007/978-3-642-33932-5_12⟩
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lirmm-00808392v1
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Beating Heart Motion Compensation Using Active Observers and Disturbance EstimationSYROCO: Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.741-746, ⟨10.3182/20120905-3-HR-2030.00164⟩
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lirmm-00779219v1
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Haptic Feedback Control in Medical Robots Through Fractional Viscoelastic Tissue ModelEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6704-6708, ⟨10.1109/IEMBS.2011.6091653⟩
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lirmm-00623166v1
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3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue ModelEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7054-7058, ⟨10.1109/IEMBS.2011.6091783⟩
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lirmm-00623173v1
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Real-time control and evaluation of a teleoperated miniature arm for Single Port LaparoscopyEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7049-7053, ⟨10.1109/IEMBS.2011.6091782⟩
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lirmm-00808384v1
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Path planning for steerable needles using duty-cyclingCARS: Computer-Assisted Radiology and Surgery, 2011, Berlin, Germany. pp.293-294
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lirmm-00958702v1
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Adaptive Path Planning for Steerable Needles Using Duty-CyclingIROS: Intelligent RObots and Systems, Sep 2011, San Francisco, CA, United States. pp.2545-2550, ⟨10.1109/IROS.2011.6048259⟩
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Design of an ultrasound-guided robotic brachytherapy needle insertion system31th International Conference of the Engineering in Medicine and Biology Society, Sep 2009, Minneapolis, France. pp.250-253
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Some control-related issues in mini-robotics for endoluminal surgeryEMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855
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lirmm-00431187v1
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A Passive Force AmplifierInternational Conference on Robotics and Automation, May 2008, United States. pp.2079-2084
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Projet MARGE : Modélisation, Apprentissage et Reproduction du Geste EndochirurchicalROBEA 2004 - 4ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Jan 2004, Toulouse, France. pp.17-25
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Force Controlled Laparoscopic Surgical Robot without Distal ForceSensingISER, Jun 2004, Singapore, Singapore
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MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive SurgeryMICCAI 2004 - 7th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2004, Saint-Malo, France. pp.1-8, ⟨10.1007/978-3-540-30136-3_1⟩
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Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue ModelSKILLS'2011: The International Conference of the European SKILLS Project, Dec 2011, Montpellier, France. , 2011, ⟨10.1051/bioconf/20110100066⟩
Poster de conférence
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Dispositif anti-flambement apte à guider un élément cylindrique poussé et déplacé sur une distance donnée dans la direction de son axeFrance, N° de brevet: FR2002744A. 2020
Brevet
lirmm-03805583v1
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MODULAR SURGICAL TOOLFrance, Patent n° : PCT WO 2010/012748 A1. 2010
Brevet
lirmm-02105831v1
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Dispositif de trocart pour le passage d'un instrument chirurgical.N° de brevet: WO/2005/067804. 2005
Brevet
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Supplementary Materials - Decoupled Model Predictive Control for Path Following on Complex Surfaces2023
Autre publication scientifique
lirmm-03962764v3
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Commande en Effort des Systèmes Robotiques pour la Chirurgie Mini-InvasiveAutomatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2005. Français. ⟨NNT : ⟩
Thèse
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