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Introduction team

Created by Prof. Philippe Cinquin three decades ago, CAMI team has been pioneering the development of medical devices assisting medical interventions since then.


In France, the team’s name (CAMI) is a standalone research area. The first French surgical robot, developed by the team for stereotaxis neurosurgery, has been used for the first time in 1989 on a patient. The mentioned robot was also one of the first surgical robots worldwide. Since then, the team has always been innovating in scientific research as well as in clinical investigations. The constant need in quality of medical interventions and the ever-growing trend in minimally invasive surgery on ever-smaller targets, using early diagnosis are endlessly stimulating the team’s challenges.


Inspired by the clinical needs and immersed in the university hospital environment, we conduct research in medical image processing, data fusion, biomechanical modeling and simulation, as well as medical robotics. Based on the experience of three decades, our team develops translational research in close partnership with clinicians and specialists in clinical evaluation methods.


In order to benefit to patients and to the healthcare system in general, multiple results are transferred to industrial partners for use in routine medical applications. Further, several spin-offs have been created by our team.
Spreading our research on a large scale allows evaluation with respect to the reality of clinical practices. In a virtuous manner, this approach feeds back our team with growing challenges to perform cutting-edge research.

Research topics


CAMI team has a clinical objective to develop assistive systems to medical interventions in a context of minimizing their invasiveness and of rationalization and traceability of healthcare.

The scientific goals ensuing from this objective include design, development, and evaluation of:
   (1) Reconstruction methods, image processing and data fusion;
   (2) Models of human organs and clinical procedures;
   (3) Simulators dedicated to learning and monitor the interventions, as well as anticipating their anatomical, functional, and esthetic consequences;
   (4) And finally steering systems whether robotized or not.

Our research is therefore based on three main topics: perception, reasoning, and action.

The following research areas do not reflect the exhaustiveness of our contributions yet represent recent or on-going projects.

In terms of perception:

Part of our research is dedicated to developing specific per-operative sensors (for instance biomechanical parameter acquisition, distributed endoscopy, optical imaging in the visible or close infrared) and several methods to use such sensors and models from the acquired data (for instance tomographic 3D reconstruction, endoscopic instrument tracking, etc.)

In terms of reasoning:

A priori information issued from different models (atlas, statistical models, etc.) is a basis to developing segmentation and elastic registration methods of multimodal data; real-time registration based on per-operative data allows to track mobile and soft structures in order to update the operative panning.
Further, biomechanical modeling approaches of human organs are developed to assist the general area of intervention simulation and planning.
Lastly, we introduce original approaches to assist surgeons’ decision, in real time, based on multimodal data with an increasing focus on recent optical modalities (including immunofluorescence).

In terms of action:

We focus part of our research on human-machine interfaces dedicated to CAMI by developing innovative interaction modalities. Further, our research on medical/surgical robotics has been emphasized with the development of lightweight and compliant robotic structures, including on-patient approaches.

 

Clinical transfer


Our research is highly assisted by strong experimental procedures leading to clinical validation.


CAMI team created and promoted the open-source platform CamiTK (Computer Assisted Medical Intervention Tool Kit) for prototyping CAMI applications, accumulating technologies and know-how in medical imaging, image processing, biomechanical modeling, and robotics.


In order to speed up the process of transferring a clinically inspired concept to an operational system with medical benefits, CAMI team founded the ECCAMI Excellence Center, a platform gathering both expertise and equipment serving academia, clinics, and industry.

 

Research Programs
Research Programs

Funded research programs

CAMI team has a leading position on "Investissements d'Avenir" projects with the coordination
(1) of CAMI Labex, gathering together the major 6 French laboratories specialized in CAMI
(2) of the sub-network "Medical Robotics" of the French Equipex Robotex network.

The team has also recorded a high acceptance rate on major project funding (for instance, participating in 14 ANR funded projects that include 7 CAMI-coordinated projects, during the last quinquennial.

 

Our research funds and programs:

 

Projet DEPORRA-2

Devices and systems targeted towards augmented robotic radical prostatectomy #2
Supervisor(s): Sandrine VOROS
Contract: AGENCE NATIONALE DE LA RECHERCHE (ANR-14-CE17-0009) - UNIVERSITE GRENOBLE ALPES - [2014-2019]
DEPORRA2 aims at demonstrating that we can offer the surgeon, the possibility to explore per-operatively the prostatic tissue, through an “augmented” robotic environment, by enriching the laparoscopic images with endo-urethral ultrasound imaging and with mini-camera imaging.

Convention LABEX CAMI

CAMI labex – Computer Assisted Medical Interventions
Supervisor(s): Jocelyne TROCCAZ
Contract: >Laboratoires d'excellence - AGENCE NATIONALE DE LA RECHERCHE (11-LABX-0004) - UNIVERSITE GRENOBLE ALPES - [2012-2019]
CAMI-Labex claims a contribution to fulfilling patient’s demand for Quality during interventions by: i) structuring French skills in CAMI into a structured and internationally visible Task Force; ii) offering senior clinical operators the possibility to see beyond the immediately visible, to be assisted in their real-time vital decisions and to access to enhanced dexterity, and teaching junior operators “to fly” before being left alone; iii) demonstrating the medical benefit of CAMI innovations; iv) promote wide industrial dissemination of these innovations.

Convention ROBOTEX

Supervisor(s): Jocelyne TROCCAZ
Contract: AGENCE NATIONALE DE LA RECHERCHE (10-EQPX-0044) - UNIVERSITE GRENOBLE ALPES - [2012-2019]

Projet PI-R2

Medical robot assisting clinicians for abdomino-pelvic interventional radiology
Supervisor(s): Céline FOUARD
Contract: SATT Linksium, Technology transfer and startup building Grenoble Alpes - UNIVERSITE GRENOBLE ALPES - [2017-2017]
Hold, position and insert a needle under MRI or CT guidance.

Prévention Ulcères Pied

Supervisor(s): Yohan PAYAN
Contract: Projet International de Coopération Scientifique (PICS) France-Israël - CNRS - [1970]

Projet FOCUS

Supervisor(s): Jocelyne TROCCAZ
Contract: AGENCE NATIONALE DE LA RECHERCHE (ANR-16-CE19-0011) - UNIVERSITE GRENOBLE ALPES - [2017-2020]
Innovative planning and guidance system for focal prostate brachytherapy.

Projet TAENIA

Supervisor(s): Philippe CINQUIN
Contract: SATT Linksium, Technology transfer and startup building Grenoble Alpes - UNIVERSITE GRENOBLE ALPES - [2017-2018]

ECCAMI Plateformes 2016

Supervisor(s): Yohan PAYAN
Contract: IBISA - UNIVERSITE GRENOBLE ALPES - [2017-2018]

Projet 3D4CARM

3D4CARM - 3D reconstruction kit solution for interventional imaging.
Supervisor(s): Laurent DESBAT
Contract: Région Auvergne-Rhône-Alpes : l'Europe s'engage en région Auvergne-Rhône-Alpes avec le FEDER - UNIVERSITE GRENOBLE ALPES - [2017-2020]
3D reconstruction kit solution for interventional imaging. All osteoarticular pathologies (hip, knee, spine, etc.) have become a public health problem. Today, the surgeon generally only has a simple flat X-ray projection image. The emerging world of 3D imaging and virtual reality combined with the ability of X-rays to see through the human body together form an immense potential for the surgery of tomorrow. The "3D4Carm" project proposes to take up this challenge and produce, with a simple mobile X-ray surgical C-arm, a quality tomographic reconstruction in 3 dimensions in real time and directly in the operating room.

Projet FOTONG

Supervisor(s): Yohan PAYAN
Contract: Projet IdEx Sorbonne Universités - UNIVERSITE GRENOBLE ALPES - [1970]

Projet PICS Prévention Ulcères

Supervisor(s): Yohan PAYAN
Contract: Projet International de Coopération Scientifique (PICS) France-Israël - CNRS - [2017]

Projet VATSnext

Supervisor(s): Yohan PAYAN
Contract: France Life Imaging (FLI) - UNIVERSITE GRENOBLE ALPES - [1970]

Projet biomécanique et tissus mous

Supervisor(s): Yohan PAYAN
Contract: Programme Hubert Curien France - Nouvelle-Zélande (Campus France) - UNIVERSITE GRENOBLE ALPES - [1970]

Projet ANATOMY 2020

Supervisor(s): Jocelyne TROCCAZ
Contract: AGENCE NATIONALE DE LA RECHERCHE (ANR-16-CE38-0011) - UNIVERSITE GRENOBLE ALPES - [2016-2021]
Body-involved interactive tools for active learning of anatomy.

FASSIL

Supervisor(s): Jocelyne TROCCAZ
Contract: Région Auvergne-Rhône-Alpes, FUI - UNIVERSITE GRENOBLE ALPES - [2016-2021]

Projet Imagerie et génération de modèles biomécaniques

Supervisor(s): Yohan PAYAN
Contract: Fondation pour la Recherche Médicale (FRM) - UNIVERSITE GRENOBLE ALPES - [1970]

Projet MIRAS

Supervisor(s): Jocelyne TROCCAZ
Contract: BPI - UNIVERSITE GRENOBLE ALPES - [2015-2018]
MIRAS : Multi-image and Robot Assisted Surgery.

Projet DEPORRA 2

Supervisor(s): Sandrine VOROS
Contract: AGENCE NATIONALE DE LA RECHERCHE (ANR-14-CE17-0009) - UNIVERSITE GRENOBLE ALPES - [2014-2019]

FUI MIRAS 2014

Supervisor(s): Jocelyne TROCCAZ
Contract: Région Auvergne-Rhône-Alpes - UNIVERSITE GRENOBLE ALPES - [2014-2018]
Projet MIRAS : Multi-image and Robot Assisted Surgery.

LABEX

Supervisor(s): Jocelyne TROCCAZ
Contract: AGENCE NATIONALE DE LA RECHERCHE (11-LABX-0004) - UNIVERSITE GRENOBLE ALPES - [2012-2019]

ROBOTEX

Supervisor(s): Jocelyne TROCCAZ
Contract: AGENCE NATIONALE DE LA RECHERCHE (10-EQPX-0044) - UNIVERSITE GRENOBLE ALPES - [2012-2019]

PIR

Supervisor(s): Céline FOUARD
Contract: SATT Linksium, Technology transfer and startup building Grenoble Alpes - UNIVERSITE GRENOBLE ALPES - [2017-2017]

Projet CQFD

Demonstrated Quality and Reliability in Surgery
Supervisor(s): Philippe CINQUIN
Contract: AGENCE NATIONALE DE LA RECHERCHE (ANR-14-LAB3-0002) - UNIVERSITE GRENOBLE ALPES - [2014-2017]
What is the Delivered Medical Benefit of a device expected to improve the results of a surgical procedure? Could the answer to this question inspire the choice of the information displayed to the surgeon and the design of the interface that will enable him or her to make the best possible use of this information during the surgical procedure? On this basis, would it be possible to detect in real time a discrepancy between a procedure and “good surgical practice”? Computer Assisted Medical Interventions (CAMI) devices begin to significantly be used in the operating theaters, which allows to envisage an original way of answering these questions.

Projet Biopsies optiques pour PRR

Supervisor(s): Sandrine VOROS
Contract: AGENCE NATIONALE DE LA RECHERCHE - UNIVERSITE GRENOBLE ALPES - [2013-2017]

Projet NOCT

Navigated OCT
Supervisor(s): Philippe CINQUIN
Contract: AGENCE NATIONALE DE LA RECHERCHE (ANR-13-TECS-0008) - UNIVERSITE GRENOBLE ALPES - [2013-2017]
The NOCT project aims at developing two apparatus, one for imaging and one for navigation, integrated in a complete clinical application of real-time echography navigated biopsy, which would be the first of its kind in the world.

Convention CHU Nantes

Supervisor(s): Yohan PAYAN
Contract: Convention Reversement CHU Nantes - UNIVERSITE GRENOBLE ALPES - [2013-2017]

Projet DROITE

Dynamic Reconstruction of Region Of Interest Tomography. Theory and Experiments
Supervisor(s): Laurent DESBAT
Contract: AGENCE NATIONALE DE LA RECHERCHE (ANR-12-BS01-0018) - UNIVERSITE GRENOBLE ALPES - [2012-2017]
Aims : reconstruct medical images from truncated radiographic projections of organs that are in motion during the data acquisition ; develop solid theoretical bases for the development of robust and efficient algorithms ; test and evaluate these methods in the context of interventional imaging, in orthopedics in the framework of pedicle screw insertion and in radiotherapy of lung tumours.
Team members
Presentation of team members (introductory sentence)

The team includes about twenty researchers, teaching researchers, asociated clinicians or staff members. Between 15 and 20 doctoral theses are conducted within the team. Post-doctoral fellows and Master research assistants are regularly hosted.

Team coordinator(s)

Permanent members

Others members

PhD students

Thesis

Thesis currently supervised within CAMI team:

  • Tarek ALSAKA : "Control of Continuum Robots for Medical Applications " (framed by Mohamed Taha CHIKHAOUI , Philippe CINQUIN )
  • Paul-Antoine BEAUDOIN : "Utilisation de l'IA pour contribuer à l'évaluation du service médical rendu au sein des entrepôts de sonnées de santé " (framed by Sophie ACHARD (LJK) , Alexandre MOREAU GAUDRY )
  • Quentin BOYER : "Commande par asservissement visuel ultrasonore de robots continus " (framed by Sandrine VOROS )
  • Rémi DUPRAZ-ROGET : "Image reconstruction in MoBI using deep learning " (framed by Max LANGER )
  • Arold GABORIT : "Décrire l'état du robot pendant qu'il effectue des tâches de diagnostic ou d'opération afin d'aider les praticiens dans leurs efforts cognitifs. Développer des approches d'estimation basées sur la proprioception du robot, le retour d'information des capteurs et la connaissance du modèle. Ces développements seront intégrés dans des simulateurs intuitifs et réalistes pour créer des interfaces adaptées. " (framed by Mohamed Taha CHIKHAOUI )
  • Matthieu LAURENDEAU : "Reconstruction 3D tomographique basse dose sur une nouvelle architecture de scanner stationnaire à rayons X " (framed by Laurent DESBAT )
  • Erwan LECESNE : "Planification et Assistance par fusion d'images multimodales pour l'optimisation de gestes de réparation tissulaire en Insuffisance Cardiaque " (framed by Céline FOUARD , Mireille GARREAU (Université Rennes 1) )
  • Baptiste NOBLET : "Vision et réalité augmentée en chirurgie endoscopique du poumon " (framed by Matthieu CHABANAS , Sandrine VOROS )
  • Emilie PIETERSOONE : "Simulation Monte Carlo pour l’imagerie X de contraste de phase et champ sombre pour l’imagerie médicale et la microscopie " (framed by Max LANGER )
  • Margaux ROUX : "Aide à la Décision dans le cadre de la Revascularisation ENdovAscuLaire des membres INfériEurs " (framed by Céline FOUARD )
  • Chloé SOORMALLY : "Segmentation et recalage d'images pour la navigation des biopsies guidée par Intelligence Artificielle " (framed by Clément BEITONE , Sandrine VOROS , Jocelyne TROCCAZ )
  • Gaspard TONETTI : "Caractérisation des compétences de laparoscopie sur simulateur d'entraînement, par analyse des gestes de l'apprenant. " (framed by Sandrine VOROS )
  • Ambroise ULRICH : "Insertion d'implant cérébraux par un robot continu : conception et développement " (framed by Mohamed Taha CHIKHAOUI )
Platforms - Resources
CamiTK (camitk.imag.fr)

 

CamiTK is a rapid prototyping toolbox for software solutions in Computer Assisted Medical Intervention (CAMI).

The benefit for using our solution are multiple :

  • Prototyping development time reduced by 30% to 50%
  • Acceleration of convergence between research and clinical validation in CAMI
  • Commercialisation of proprietary modules with high freedom-to-operate
  • Clear intellectual property status of the different bricks within a solution
  • Credibilisation of a CAMI project proposal

 

CamiTK

 

 

ECCAMI platform (www.eccami.fr)

 

Plateforme Eccami

 

In order to shorten the cycle time from the concept inspired by a clinical problem to the operational system providing a medical service, the GMCAO team has set up the ECCAMI Centre of Excellence, a platform of skills and equipment at the service of academic, clinical and industrial actors.

This centre of excellence dedicated to the improvement and enhancement of computer-assisted medical interventions is intended to be a "one-stop shop" for these actors, for all prospecting, exchange and innovation initiatives.

A hardware and software platform is thus made available to ECCAMI members. It includs state-of-the-art equipment (motorized C-Arm, digital detector, laparoscopy and elastography station of the latest generations...) as well as software licenses (ANSYS mechanical calculation, CamiTK rapid prototyping).

 

Contact : contact [at] eccami.fr


EXPERIMENTAL INFECTIOLOGY PLATFORM

PIE

 

Experimental Infectious Diseases Platform

 

   

enumeration

  
MOLECULAR SCREENING VIDEOMICROSCOPIA

 

PIE1 PIE2

Applications areas :

  • Enumeration

  • Invasion

  • Proliferation

  • Interactions with the host

  • Molecular screening

  • Cellular dynamics

PIE3

Aims : evaluate repression or gene expression
in bacteria depending on their environment

 

Place : Jean Roget building
               (UGA - Site Santé)

 

Scientific supervisor :
  Delphine Aldebert

 

 

 

 

PIE4

Aims : evaluate the action of antifungals on the chitin content of yeasts

 

PIE5

Aims: enumeration of parasitic cysts (Dolichos-FITC) in brain crushes

 

____________________________________________________________________________________________________________

Plateforme de Microscopie IntraVitale
Intravitale


La microscopie intravitale est outil qui permet d'analyser le fonctionnement des cellules saines ou malades dans un environnement complexe du vivant, avec la (patho)physiologie et la biologie tissulaire, cellulaire et moléculaire intacte. Pour obtenir ces informations complexes, un savoir faire unique a été développé sur la PF depuis 2002.

Notre mission est de réaliser des protocoles concernant la technique de microscopie optique, le traitement et l'analyse des images, permettant de comprendre comment les changements cellulaires, tissulaires et vasculaires évoluent dans le cadre d'un diagnostic et le suivi d'un traitement.

 


  Équipements :

  Informations plateforme

  • (à venir)

 

Responsable scientifique :

BvdSanden  Boudewijn van der Sanden

 boudewijn.vandersanden [at] univ-grenoble-alpes.fr
 06 48 54 67 12

 

Intravitale

La plateforme (PF) a été labellisée par GiS-IBiSA en 2007 et France Life Imaging en 2012.

 

Primary collaborations and grants

Scientific partners


CAMI team has local (with other research groups of TIMC laboratory and with several laboratories in COMUE University Grenoble Alpes), regional (including in projects funded by the Region Auvergne Rhône-Alpes), national (including via CAMI LabEx, steered by our team), and international collaborations (including Canada, Singapore, Chile, Israel, China, Iran, Mexico).

The scientific collaborations generally include thesis co-advisory avec partner laboratories in France and abroad.


Clinical partners


An additional highlight of the team regards the integration in the medical realm. The CIC-IT Maxitech and clinicians of the University Hospital of Grenoble Alpes are our natural, privileged partners. Together we conduct translational projects in urology, digestive surgery, orthopedy, vascular surgery, neurosurgery, maxilla-facial surgery/interventional radiology, radiotherapy, etc.
CAMI team has been developing partnerships with many other clinical collaborators throughout France (including University Hospital at Toulouse Purpan, Pitié Salpêtrière Hospital in Paris, Clinique Mutualiste des Eaux Claires in Grenoble, CMUDD) in diverse areas in surgery, radiology, and medicine.
Beyond the aforementioned projects, our collaboration implies hosting clinicians in our laboratory for Master and Doctoral theses in science.


Industrial partners


CAMI team has initiated directly or indirectly the creation of more than 10 start-ups since 1995, including PRAXIM (CAMI, recipient of Grand Prix IST in 2005), CAD-Implant (CAMI for dental implantology), KOELIS (CAMI for urology), ENDOCONTROL Medical (robotics for endoscopy), IMACTIS (CAMI for interventional radiology), SurgiQual Institute (CAMI systems’ development and certification/clearance), UroMEMS (microtechnology for urology), and Texisense (intelligent textile). UroMEMS and Texisens companies were recipient of OSEO national competition that support cutting-edge technology start-up creation. Industrial transfer agreements and/or long-term collaborations are maintained with these companies.
CAMI team has released several tens of international patents, filed by University Grenoble Alpes or the CNRS, as well as with industrial partners in some cases.
CAMI team also supported A3 Surgical, Imactis, and Surgivisio companies, recipient of the first edition of the worldwide competition Concours Mondial de l’Innovation.
Other collaborations exist with larger companies and big industrial groups by means of direct research contracts or collaborative projects (including ANR and FUI).
CAMI team is also partner of LSI Carnot Institute (Intelligent software and systems).


 

Contact

Address: TIMC laboratory, Pavillon TAILLEFER, Allée des Alpes, 38700 LA TRONCHE