<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-00846002</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-22T07:58:29+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="fr">Robot coelioscopique porte-endoscope miniaturisé LER (light endoscope robot) : développement pré-clinique</title>
            <author role="aut">
              <persName>
                <forename type="first">Jean-Alexandre</forename>
                <surname>Long</surname>
              </persName>
              <idno type="halauthorid">246964-0</idno>
              <affiliation ref="#struct-74643"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Philippe</forename>
                <surname>Cinquin</surname>
              </persName>
              <idno type="halauthorid">134652-0</idno>
              <affiliation ref="#struct-707"/>
              <affiliation ref="#struct-2603"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jocelyne</forename>
                <surname>Troccaz</surname>
              </persName>
              <email type="md5">59213c8bff5e4089ab88c0f88732aef3</email>
              <email type="domain">univ-grenoble-alpes.fr</email>
              <idno type="idhal" notation="string">jocelyne-troccaz</idno>
              <idno type="idhal" notation="numeric">763</idno>
              <idno type="halauthorid" notation="string">25175-763</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-5921-9419</idno>
              <idno type="IDREF">https://www.idref.fr/031497977</idno>
              <affiliation ref="#struct-707"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jean-Jacques</forename>
                <surname>Rambeaud</surname>
              </persName>
              <idno type="halauthorid">246965-0</idno>
              <affiliation ref="#struct-71100"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Olivier</forename>
                <surname>Skowron</surname>
              </persName>
              <idno type="halauthorid">248560-0</idno>
              <affiliation ref="#struct-49564"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Peter</forename>
                <surname>Berkelman</surname>
              </persName>
              <idno type="halauthorid">246971-0</idno>
              <affiliation ref="#struct-388249"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Christian</forename>
                <surname>Letoublon</surname>
              </persName>
              <idno type="halauthorid">149825-0</idno>
              <affiliation ref="#struct-44166"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Pierre</forename>
                <surname>Cadi</surname>
              </persName>
              <idno type="halauthorid">248561-0</idno>
              <affiliation ref="#struct-49564"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Frédéric</forename>
                <surname>Bocqueraz</surname>
              </persName>
              <idno type="halauthorid">248562-0</idno>
              <affiliation ref="#struct-49564"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Sandrine</forename>
                <surname>Voros</surname>
              </persName>
              <email type="md5">25f12fb2b43a8082d2de92954c933b47</email>
              <email type="domain">univ-grenoble-alpes.fr</email>
              <idno type="idhal" notation="string">sandrine-voros</idno>
              <idno type="idhal" notation="numeric">172074</idno>
              <idno type="halauthorid" notation="string">5713-172074</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-7418-2367</idno>
              <idno type="IDREF">https://www.idref.fr/115381368</idno>
              <affiliation ref="#struct-388249"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jean-Luc</forename>
                <surname>Descotes</surname>
              </persName>
              <idno type="halauthorid">246966-0</idno>
              <affiliation ref="#struct-74643"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Sandrine</forename>
                <surname>Voros</surname>
              </persName>
              <email type="md5">25f12fb2b43a8082d2de92954c933b47</email>
              <email type="domain">univ-grenoble-alpes.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2013-07-18 13:17:17</date>
              <date type="whenModified">2026-03-26 16:30:05</date>
              <date type="whenReleased">2013-07-18 13:17:17</date>
              <date type="whenProduced">2006</date>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="125986">
                <persName>
                  <forename>Sandrine</forename>
                  <surname>Voros</surname>
                </persName>
                <email type="md5">25f12fb2b43a8082d2de92954c933b47</email>
                <email type="domain">univ-grenoble-alpes.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-00846002</idno>
            <idno type="halUri">https://hal.science/hal-00846002</idno>
            <idno type="halBibtex">long:hal-00846002</idno>
            <idno type="halRefHtml">&lt;i&gt;Progrès en Urologie&lt;/i&gt;, 2006, 16 (1), pp.45-51</idno>
            <idno type="halRef">Progrès en Urologie, 2006, 16 (1), pp.45-51</idno>
            <availability status="restricted"/>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UGA">HAL Grenoble Alpes</idno>
            <idno type="stamp" n="IMAG">IMAG</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-GRENOBLE1">Université Joseph Fourier - Grenoble I</idno>
            <idno type="stamp" n="INPG">Institut polytechnique de Grenoble</idno>
            <idno type="stamp" n="TIMC-IMAG">TIMC</idno>
            <idno type="stamp" n="TIMC-IMAG-GMCAO" corresp="TIMC-IMAG">GMCAO : Geste Médico-Chirurgicaux Assistés par Ordinateur</idno>
            <idno type="stamp" n="UNIV-LYON">Université de Lyon</idno>
            <idno type="stamp" n="TEST-UGA">TEST-UGA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="fr">Robot coelioscopique porte-endoscope miniaturisé LER (light endoscope robot) : développement pré-clinique</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Jean-Alexandre</forename>
                    <surname>Long</surname>
                  </persName>
                  <idno type="halauthorid">246964-0</idno>
                  <affiliation ref="#struct-74643"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Philippe</forename>
                    <surname>Cinquin</surname>
                  </persName>
                  <idno type="halauthorid">134652-0</idno>
                  <affiliation ref="#struct-707"/>
                  <affiliation ref="#struct-2603"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jocelyne</forename>
                    <surname>Troccaz</surname>
                  </persName>
                  <email type="md5">59213c8bff5e4089ab88c0f88732aef3</email>
                  <email type="domain">univ-grenoble-alpes.fr</email>
                  <idno type="idhal" notation="string">jocelyne-troccaz</idno>
                  <idno type="idhal" notation="numeric">763</idno>
                  <idno type="halauthorid" notation="string">25175-763</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-5921-9419</idno>
                  <idno type="IDREF">https://www.idref.fr/031497977</idno>
                  <affiliation ref="#struct-707"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jean-Jacques</forename>
                    <surname>Rambeaud</surname>
                  </persName>
                  <idno type="halauthorid">246965-0</idno>
                  <affiliation ref="#struct-71100"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Olivier</forename>
                    <surname>Skowron</surname>
                  </persName>
                  <idno type="halauthorid">248560-0</idno>
                  <affiliation ref="#struct-49564"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Peter</forename>
                    <surname>Berkelman</surname>
                  </persName>
                  <idno type="halauthorid">246971-0</idno>
                  <affiliation ref="#struct-388249"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Christian</forename>
                    <surname>Letoublon</surname>
                  </persName>
                  <idno type="halauthorid">149825-0</idno>
                  <affiliation ref="#struct-44166"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Pierre</forename>
                    <surname>Cadi</surname>
                  </persName>
                  <idno type="halauthorid">248561-0</idno>
                  <affiliation ref="#struct-49564"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Frédéric</forename>
                    <surname>Bocqueraz</surname>
                  </persName>
                  <idno type="halauthorid">248562-0</idno>
                  <affiliation ref="#struct-49564"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Sandrine</forename>
                    <surname>Voros</surname>
                  </persName>
                  <email type="md5">25f12fb2b43a8082d2de92954c933b47</email>
                  <email type="domain">univ-grenoble-alpes.fr</email>
                  <idno type="idhal" notation="string">sandrine-voros</idno>
                  <idno type="idhal" notation="numeric">172074</idno>
                  <idno type="halauthorid" notation="string">5713-172074</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-7418-2367</idno>
                  <idno type="IDREF">https://www.idref.fr/115381368</idno>
                  <affiliation ref="#struct-388249"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jean-Luc</forename>
                    <surname>Descotes</surname>
                  </persName>
                  <idno type="halauthorid">246966-0</idno>
                  <affiliation ref="#struct-74643"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">21422</idno>
                <idno type="issn">1166-7087</idno>
                <idno type="eissn">2405-5131</idno>
                <title level="j">Progrès en Urologie</title>
                <imprint>
                  <publisher>Elsevier Masson</publisher>
                  <biblScope unit="volume">16</biblScope>
                  <biblScope unit="issue">1</biblScope>
                  <biblScope unit="pp">45-51</biblScope>
                  <date type="datePub">2006</date>
                </imprint>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="fr">French</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="es">robot</term>
                <term xml:lang="es">porte-endoscope</term>
                <term xml:lang="es">laparoscopie</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halDomain" n="info.info-oh">Computer Science [cs]/Other [cs.OH]</classCode>
              <classCode scheme="halDomain" n="sdv.ib">Life Sciences [q-bio]/Bioengineering</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="fr">
              <p>Introduction: Notre rôle a été de participer au développement d'un robot porte-endoscope en chirurgie laparoscopique de conception innovante crée par le laboratoire TIMC-GMCAO amenant une solution aux inconvénients des systèmes déjà existants que sont leur coût et leur encombrement importants. Matériel et méthodes: Un robot de structure compacte posé sur la peau du malade (LER), utilisable en décubitus latéral et dorsal a été testé sur sujet anatomique et cochon de laboratoire afin de permettre des évolutions successives. Le système de commande actuel repose sur la reconnaissance vocale. L'amplitude de vision est de 360° et l'inclinaison est de 160°. 23 interventions ont été effectuées (2 prostatectomis radicales, 4 curages ilio-obturateurs, 6 nephrectomies, 2 surrénalectomies, 3 cholecystectomies, 1 résection-anastomose du grèle, 1 cystectomie, 1 splénectomie, 3 appendicectomies). Résultats : Parmi les différents systèmes de commande testés, nous avons retenu la reconnaissance vocale pour son caractère intuitif et la possibilité de libérer une main. Les tests ont permis de faire évoluer le prototype sur différents points de fiabilité, de fixation, d'ergonomie et d'encombrement. La simplicité d'installation, possible en 5 minutes et le maniement facile du robot ont permis de conclure 21 procédures laparoscopiques sur 23 en supprimant un aide. Conclusion : Le robot LER est un robot porte-optique guidé par la voix du chirurgien permettant de supprimer l'aide tenant la caméra en chirurgie laparoscopique tant en décubitus dorsal que latéral. La simplicité d'installation et de fabrication devrait en faire un système efficace et peu onéreux. Le gain en temps d'intervention n'a pas pu être évalué sur ces essais sur sujets anatomiques et cochons en raison des différentes évolutions testées et de quelques problèmes de fiabilité en cours de résolution. Des essais cliniques au cours d'une étude prospective randomisée doivent débuter prochainement pour validation avant commercialisation.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-74643" status="INCOMING">
          <orgName>Service d'urologie</orgName>
          <desc>
            <address>
              <addrLine>Grenoble</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-257328" type="direct"/>
            <relation active="#struct-300199" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-707" status="OLD">
          <idno type="IdRef">14728936X</idno>
          <idno type="ISNI">0000 0004 4687 1979</idno>
          <idno type="RNSR">199511969L</idno>
          <idno type="ROR">https://ror.org/03985kf35</idno>
          <orgName>Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525</orgName>
          <orgName type="acronym">TIMC-IMAG</orgName>
          <date type="start">1993-01-01</date>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>Domaine de la Merci, 38706 La Tronche, France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www-timc.imag.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-51016" type="direct"/>
            <relation active="#struct-89889" type="direct"/>
            <relation active="#struct-301767" type="direct"/>
            <relation name="UMR5525" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-2603" status="INCOMING">
          <orgName>CIC - Grenoble</orgName>
          <desc>
            <address>
              <addrLine>Centre Hospitalier Universitaire LYON 38043 GRENOBLE CEDEX 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.lyon.inserm.fr/cic-grenoble/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-51016" type="direct"/>
            <relation name="CIC3" active="#struct-303623" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-71100" status="INCOMING">
          <orgName>Service d'urologie</orgName>
          <desc>
            <address>
              <addrLine>Grenoble</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-257328" type="direct"/>
            <relation active="#struct-301095" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-49564" status="INCOMING">
          <orgName>Service de chirurgie</orgName>
          <desc>
            <address>
              <addrLine>38700 La Tronche</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-257328" type="direct"/>
            <relation active="#struct-300199" type="direct"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-388249" status="OLD">
          <orgName>Gestes Medico-chirurgicaux Assistés par Ordinateur</orgName>
          <orgName type="acronym">TIMC-IMAG-GMCAO</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>Domaine de la Merci, 38706 La Tronche, France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www-timc.imag.fr/gmcao</ref>
          </desc>
          <listRelation>
            <relation active="#struct-707" type="direct"/>
            <relation active="#struct-51016" type="indirect"/>
            <relation active="#struct-89889" type="indirect"/>
            <relation active="#struct-301767" type="indirect"/>
            <relation name="UMR5525" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-44166" status="VALID">
          <orgName>Département de chirurgie digestive et de l'urgence</orgName>
          <desc>
            <address>
              <addrLine>Grenoble</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-257328" type="direct"/>
            <relation active="#struct-300199" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-257328" status="VALID">
          <idno type="IdRef">034137076</idno>
          <idno type="ROR">https://ror.org/041rhpw39</idno>
          <orgName>CHU de Grenoble-Alpes - Centre Hospitalier Universitaire CHU Grenoble</orgName>
          <orgName type="acronym">CHUGA</orgName>
          <desc>
            <address>
              <addrLine>CS 1021738043 Grenoble cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.chu-grenoble.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300199" status="VALID">
          <orgName>Hôpital Michallon</orgName>
          <desc>
            <address>
              <addrLine>CHU Grenoble-Alpes</addrLine>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-51016" status="OLD">
          <idno type="IdRef">026404796</idno>
          <idno type="ROR">https://ror.org/02aj0kh94</idno>
          <orgName>Université Joseph Fourier - Grenoble 1</orgName>
          <orgName type="acronym">UJF</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ujf-grenoble.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-89889" status="OLD">
          <idno type="IdRef">026388804</idno>
          <idno type="ROR">https://ror.org/05sbt2524</idno>
          <orgName>Institut polytechnique de Grenoble - Grenoble Institute of Technology</orgName>
          <orgName type="acronym">Grenoble INP</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2019-12-31</date>
          <desc>
            <address>
              <addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.grenoble-inp.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-301767" status="VALID">
          <idno type="ROR">https://ror.org/01c7wz417</idno>
          <orgName>VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement</orgName>
          <orgName type="acronym">VAS</orgName>
          <date type="start">2010-01-01</date>
          <desc>
            <address>
              <addrLine>Université de Lyon, VetAgro Sup, 69280 Marcy l'Etoile (campus vétérinaire); Université de Clermont, VetAgro Sup, 63370 Lempdes (campus agronomique)</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.vetagro-sup.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-303623" status="VALID">
          <idno type="IdRef">026388278</idno>
          <idno type="ROR">https://ror.org/02vjkv261</idno>
          <orgName>Institut National de la Santé et de la Recherche Médicale</orgName>
          <orgName type="acronym">INSERM</orgName>
          <desc>
            <address>
              <addrLine>101, rue de Tolbiac, 75013 Paris</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inserm.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-301095" status="VALID">
          <orgName>Ministère de la santé</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>