Commande robotique hybride par téléopération et comanipulation : Application au positionnement d’une sonde échographique en milieu contraint

Abstract

In many robot-assisted applications, especially in the medical field, it is common to have to alternate phases where a human is directly interacting with the robot (comanipulation) and some phases where this human is by necessity distant from it (teleoperation). This thesis deals with the control of robots by combining the two modalities of teleoperation and comanipulation. Two approaches are proposed : a temporal combination on the one hand and a structural combination on the other. The first one corresponds to an operation of the robot with temporal alternation of comanipulated and teleoperated phases. The second consists of controlling the robot by combining the twomodalities in question simultaneously through a selectivity matrix, thus allowing two usually distinct and separate input channels to be mixed. The particular approach proposed here is applied to the positioning of an ultrasoundprobe in a highly constrained medical environment.