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Keywords

US/CT registration Laparoscopic surgery Hand tracking Passivity High-frequency ultrasound Force control Bilateral teleoperation Admittance control Beating heart surgery Cochlea Augmented reality Microcomputed tomography Adaptive control 3D ultrasound calibration Design framework Human-machine interface Adaptive slope model Infrared stereoscopic camera Teleoperation Surgical robotics
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Nabil Zemiti's Home page

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 since 2013.

Since 2017, I'm in charge of the surgical robotics translational research activities and platforms at the Medical School of Montpellier.

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) - 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) - 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

  • 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 - 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, Collaboration between LIRMM and LTSI Rennes)

 

Post-doc Gustavo Gil (CAMI Labex, Collaboration between LIRMM and LTSI Rennes)
PhD mobility of Miss Juie Walker (Chateaubriand Fellowship Program) Collaboration with Pr. Allison Okamura (Charm Lab. Stanford Uni.) Sep 2017-March 2018

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)

 

Journal articles13 documents

  • Mohamed Akkari, Gérard Subsol, Nabil Zemiti, Lucas Lavenir, Charlotte Farah, et al.. Feasibility of Cochlea High-frequency Ultrasound and Microcomputed Tomography Registration for Cochlear Computer-assisted Surgery: A Testbed. Otology and Neurotology, Lippincott, Williams & Wilkins, 2021, 42 (6), pp.e779-e787. ⟨10.1097/mao.0000000000003091⟩. ⟨lirmm-03250536⟩
  • Lucas Lavenir, Nabil Zemiti, Mohamed Akkari, Gérard Subsol, Frederic Venail, et al.. HFUS Imaging of the Cochlea: A Feasibility Study for Anatomical Identification by Registration with MicroCT. Annals of Biomedical Engineering, Springer Verlag, 2021, 49 (5), pp.1308-1317. ⟨10.1007/s10439-020-02671-1⟩. ⟨lirmm-02960692⟩
  • Lingbo Cheng, Jay Carriere, Jakub Piwowarczyk, Daniel Aalto, Nabil Zemiti, et al.. Admittance-Controlled Robotic Assistant for Fibula Osteotomies in Mandible Reconstruction Surgery. Advanced Intelligent Systems, Wiley, 2020, ⟨10.1002/aisy.202000158⟩. ⟨lirmm-02960707⟩
  • Jun Shen, Nabil Zemiti, Christophe Taoum, Guillaume Aiche, Jean-Louis Dillenseger, et al.. Transrectal Ultrasound Image-based Real-time Augmented Reality Guidance in Robot-assisted Laparoscopic Rectal Surgery: A Proof of Concept Study. International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2020, 15 (3), pp.531-543. ⟨10.1007/s11548-019-02100-2⟩. ⟨lirmm-02381958⟩
  • Fabien Despinoy, Nabil Zemiti, Germain Forestier, Luis Alonso Sanchez Secades, Pierre Jannin, et al.. Evaluation of Contactless Human-Machine Interface for Robotic Surgical Training. International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2018, 13 (1), pp.13-24. ⟨10.1007/s11548-017-1666-6⟩. ⟨lirmm-01577226⟩
  • Valentin Favier, Nabil Zemiti, Oscar Caravaca Mora, Gérard Subsol, Guillaume Captier, et al.. Geometric and mechanical evaluation of 3D-printing materials for skull base anatomical education and endoscopic surgery simulation – A first step to create reliable customized simulators. . PLoS ONE, Public Library of Science, 2017, 12 (12), pp.e0189486. ⟨10.1371/journal.pone.0189486⟩. ⟨lirmm-01667197⟩
  • Fabien Despinoy, David Bouget, Germain Forestier, Cédric Penet, Nabil Zemiti, et al.. Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training. IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2016, 63 (6), pp.1280-1291. ⟨10.1109/TBME.2015.2493100⟩. ⟨lirmm-01217023⟩
  • Pedro Moreira, Nabil Zemiti, Chao Liu, Philippe Poignet. Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation. Computer Methods and Programs in Biomedicine, Elsevier, 2014, 116 (2), pp.52-67. ⟨10.1016/j.cmpb.2014.01.017⟩. ⟨lirmm-00940940⟩
  • Nabil Zemiti, Guillaume Morel, Alain Micaelli, Barthélemy Cagneau, Delphine Bellot. On the Force Control of Kinematically Defective Manipulators Interacting With an Unknown Environment. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2010, 18 (2), pp.307-322. ⟨10.1109/TCST.2009.2022170⟩. ⟨lirmm-02476015⟩
  • Nabil Zemiti, Ivan Bricault, Celine Fouard, Benedicte Sanchez, Philippe Cinquin. LPR: A CT and MR-Compatible Puncture Robot to Enhance Accuracy and Safety of Image-Guided Interventions.. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2008, 13 (3), pp.306-315. ⟨hal-00387369⟩
  • Ivan Bricault, Nabil Zemiti, Emilie Jouniaux, Celine Fouard, Elise Taillant, et al.. A Light Puncture Robot for CT and MRI Interventions.. IEEE Engineering in Medicine and Biology Magazine, Institute of Electrical and Electronics Engineers, 2008, pp.42-50. ⟨hal-00387377⟩
  • Ivan Bricault, Emilie Jauniaux, Nabil Zemiti, Céline Fouard, Elise Taillant, et al.. LPR: A Light Puncture Robot for CT and MRI Interventions. IEEE Engineering in Medicine and Biology Magazine, Institute of Electrical and Electronics Engineers, 2008, 27 (3), pp.42--50. ⟨10.1109/EMB.2007.910262⟩. ⟨hal-00311442⟩
  • Nabil Zemiti, Guillaume Morel, Tobias Ortmaier, Nicolas Bonnet. Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2007, 12 (2), pp.143-153. ⟨hal-00387379⟩

Conference papers33 documents

  • Thibault Poignonec, Florent Nageotte, Nabil Zemiti, Bernard Bayle. Simultaneous haptic guidance and learning of task parameters during robotic teleoperation. International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi’an, China. ⟨lirmm-03251658⟩
  • Yuhang Ye, Chao Liu, Nabil Zemiti, Chenguang Yang. Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM Model. RO-MAN: Robot & Human Interactive Communication, Oct 2019, New Delhi, India. ⟨lirmm-02315613⟩
  • Julie Walker, Nabil Zemiti, Philippe Poignet, Allison Okamura. Holdable Haptic Device for 4-DOF Motion Guidance. WHC: World Haptics Conference, Jul 2019, Tokyo, Japan. ⟨lirmm-02093717⟩
  • Gustavo Gil, Julie Walker, Nabil Zemiti, Allison Okamura, Philippe Poignet. 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. ⟨lirmm-02093730⟩
  • Gustavo Gil, Julie Walker, Nabil Zemiti, Allison Okamura, Philippe Poignet. Towards a novel man-machine interface to speed up training on robot-assisted surgery. SURGETICA, Jun 2019, Rennes, France. ⟨lirmm-02105125⟩
  • Jun Shen, Nabil Zemiti, Christophe Taoum, Jean-Louis Dillenseger, Philippe Rouanet, et al.. Intraoperative Ultrasound-based Augmented Reality Guidance. SURGETICA, Jun 2019, Rennes, France. ⟨lirmm-02105828⟩
  • Jun Shen, Nabil Zemiti, Jean-Louis Dillenseger, Philippe Poignet. Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked Marker. EMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, Hawaii, United States. pp.878-882, ⟨10.1109/EMBC.2018.8512406⟩. ⟨lirmm-01828628⟩
  • Jun Shen, Nabil Zemiti, Agnès Viquesnel, Oscar Caravaca Mora, Auguste Courtin, et al.. Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic Surgery. 32nd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2018), Jun 2018, Berlin, Germany. pp.S45-S46, ⟨10.1007/s11548-018-1766-y⟩. ⟨lirmm-01828409⟩
  • Fabien Despinoy, Sandrine Voros, Nabil Zemiti, Nicolas Padoy, Pierre Jannin. Towards unified dataset for Modeling and Monitoring of Computer Assisted Medical Interventions. SURGETICA, Nov 2017, Strasbourg, France. ⟨lirmm-02105827⟩
  • Jun Shen, Nabil Zemiti, Oscar Caravaca Mora, Simon Antoine, Jean-Louis Dillenseger, et al.. Augmented Reality Visualization Based On 3D Ultrasonography. SURGETICA, Nov 2017, Strasbourg, France. ⟨lirmm-02105826⟩
  • Ederson Antônio Gomes Dorileô, Nabil Zemiti, Philippe Poignet. Needle Deflection Prediction Using Adaptive Slope Model. ICAR: International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65, ⟨10.1109/ICAR.2015.7251434⟩. ⟨lirmm-01275351⟩
  • Ederson Antônio Gomes Dorileô, Abdulrahman Albakri, Nabil Zemiti, Philippe Poignet. Simplified adaptive path planning for percutaneous needle insertions. ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1782-1788, ⟨10.1109/ICRA.2015.7139429⟩. ⟨lirmm-01275360⟩
  • Fabien Despinoy, Luis Alonso Sanchez Secades, Nabil Zemiti, Pierre Jannin, Philippe Poignet. A novel contactless human-machine interface for laparoscopic telesurgery. SURGETICA, Dec 2014, Chambéry, France. ⟨hal-01275501⟩
  • Fabien Despinoy, Luis Alonso Sanchez Secades, Nabil Zemiti, Pierre Jannin, Philippe Poignet. Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic Telesurgery. IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.21-30, ⟨10.1007/978-3-319-07521-1_3⟩. ⟨lirmm-01086444⟩
  • Adrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe Poignet. Modelling and Control of an ERF-based Needle Insertion Training Platform. IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.31-40, ⟨10.1007/978-3-319-07521-1_4⟩. ⟨lirmm-00941009⟩
  • Adrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe Poignet. Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic Platform. IROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221, ⟨10.1109/IROS.2014.6942712⟩. ⟨lirmm-01078465⟩
  • Ederson Antônio Gomes Dorileô, Nikolai Hungr, Nabil Zemiti, Ivan Bricault, Céline Fouard, et al.. A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures Planning. CARS: Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan. ⟨lirmm-01275609⟩
  • Luis Alonso Sanchez Secades, Chao Liu, Nabil Zemiti, Philippe Poignet, Etienne Dombre. Control of meso-robots for endoluminal Surgery. CRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy. ⟨lirmm-00958690⟩
  • Luis Alonso Sanchez Secades, Minh-Quyen Le, Kanty Rabenorosoa, Chao Liu, Nabil Zemiti, et al.. A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform. IAS: Intelligent Autonomous Systems, Jun 2012, Jeju Island, South Korea. pp.121-130, ⟨10.1007/978-3-642-33932-5_12⟩. ⟨lirmm-00808392⟩
  • Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet. Beating Heart Motion Compensation Using Active Observers and Disturbance Estimation. SYROCO: Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.741-746, ⟨10.3182/20120905-3-HR-2030.00164⟩. ⟨lirmm-00779219⟩
  • Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet. Soft tissue force control using active observers and viscoelastic interaction model. ICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.4660-4666, ⟨10.1109/ICRA.2012.6224958⟩. ⟨lirmm-00779205⟩
  • Luis Alonso Sanchez Secades, Minh-Quyen Le, Chao Liu, Nabil Zemiti, Philippe Poignet. The impact of interaction model on stability and transparency in bilateral teleoperation for medical applications. ICRA: International Conference on Robotics and Automation, May 2012, St. Paul, MN, United States. pp.1607-1613, ⟨10.1109/ICRA.2012.6225314⟩. ⟨lirmm-00808388⟩
  • Caroline Nadeau, Alexandre Krupa, Pedro Moreira, Nabil Zemiti, Philippe Poignet, et al.. Active stabilization of ultrasound image for robotically-assisted medical procedures. Hamlyn Symposium on Medical robotics, Jul 2012, London, United Kingdom. ⟨hal-00751760⟩
  • Luis Alonso Sanchez Secades, Gianluigi Petroni, Marco Piccigallo, Umberto Scarfogliero, Marta Niccolini, et al.. Real-time control and evaluation of a teleoperated miniature arm for Single Port Laparoscopy. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7049-7053, ⟨10.1109/IEMBS.2011.6091782⟩. ⟨lirmm-00808384⟩
  • Mariana Bernardes, Bruno Vilhena Adorno, Nabil Zemiti, Philippe Poignet, Geovany A. Borges. Path planning for steerable needles using duty-cycling. CARS: Computer-Assisted Radiology and Surgery, 2011, Berlin, Germany. pp.293-294. ⟨lirmm-00958702⟩
  • Mariana Costa Bernardes, Bruno Vilhena Adorno, Philippe Poignet, Nabil Zemiti, Geovany A. Borges. Adaptive Path Planning for Steerable Needles Using Duty-Cycling. IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, CA, United States. pp.2545-2550, ⟨10.1109/IROS.2011.6048259⟩. ⟨lirmm-00641824⟩
  • Yo Kobayashi, Pedro Moreira, Chao Liu, Philippe Poignet, Nabil Zemiti, et al.. Haptic Feedback Control in Medical Robots Through Fractional Viscoelastic Tissue Model. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6704-6708, ⟨10.1109/IEMBS.2011.6091653⟩. ⟨lirmm-00623166⟩
  • Chao Liu, Pedro Moreira, Nabil Zemiti, Philippe Poignet. 3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue Model. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7054-7058, ⟨10.1109/IEMBS.2011.6091783⟩. ⟨lirmm-00623173⟩
  • Philippe Poignet, Ahmed Chemori, Nabil Zemiti, Chao Liu. Some control-related issues in mini-robotics for endoluminal surgery. EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855. ⟨lirmm-00431187⟩
  • Nikolai Hungr, Jocelyne Troccaz, Nabil Zemiti, Nathanael Tripodi. Design of an ultrasound-guided robotic brachytherapy needle insertion system. 31th International Conference of the Engineering in Medicine and Biology Society, Sep 2009, Minneapolis, France. pp.250-253. ⟨hal-00416163⟩
  • Barthelemy Cagneau, Guillaume Morel, Delphine Bello, Nabil Zemiti, G. d'Agostino. A Passive Force Amplifier. International Conference on Robotics and Automation, May 2008, United States. pp.2079-2084. ⟨hal-00387390⟩
  • Nabil Zemiti, Tobias Ortmaier, Marie-Aude Vitrani, Guillaume Morel. Force Controlled Laparoscopic Surgical Robot without Distal ForceSensing. ISER, Jun 2004, Singapore, Singapore. ⟨hal-01171256⟩
  • Etienne Dombre, Micaël Michelin, François Pierrot, Philippe Poignet, Philippe Bidaud, et al.. Projet MARGE : Modélisation, Apprentissage et Reproduction du Geste Endochirurchical. ROBEA: Robotique et Entités Artificielles, Jan 2004, Toulouse, France. pp.17-25. ⟨lirmm-00108664⟩

Poster communications1 document

  • Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet. Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model. SKILLS'2011: The International Conference of the European SKILLS Project, Dec 2011, Montpellier, France. 2011, ⟨10.1051/bioconf/20110100066⟩. ⟨lirmm-00779228⟩

Book sections1 document

  • Etienne Dombre, Micaël Michelin, François Pierrot, Philippe Poignet, Philippe Bidaud, et al.. MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive Surgery. C. Barillot; D.R. Haynor; P. Hellier. Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004, 3217, Springer, pp.1-8, 2004, 7th International Conference, Saint-Malo, France, September 26-29, 2004. Proceedings, Part II, 3-540-22977-9. ⟨10.1007/978-3-540-30136-3_1⟩. ⟨lirmm-00108906⟩

Patents2 documents

  • Philippe Cinquin, Juan Carlos Avila Vilchis, Nabil Zemiti, Adriana Vilchis-Gonzales. MODULAR SURGICAL TOOL. France, Patent n° : PCT WO 2010/012748 A1. 2010. ⟨lirmm-02105831⟩
  • Guillaume Morel, Nabil Zemiti. Dispositif de trocart pour le passage d'un instrument chirurgical.. N° de brevet: WO/2005/067804. 2005. ⟨hal-00387361⟩

Theses1 document

  • Nabil Zemiti. Commande en Effort des Systèmes Robotiques pour la Chirurgie Mini-Invasive. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2005. Français. ⟨tel-00011767⟩