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Presentation of the actors
The Institute of Intelligent Systems and Robotics (ISIR)
The advent of robots and artificial intelligence systems is bringing about profound changes in our societies. ISIR researchers are helping to anticipate these changes by working on the autonomy of machines and their ability to interact with human beings. Working in multi-disciplinary teams, our researchers create drones, micro-pincers, bionic prostheses, social robots, surgical arms and all kinds of intelligent and interactive systems, whether physical, virtual or mixed reality. Their applications address major societal challenges in healthcare, the industry of the future, transport and personal services.
The Biomedical Imaging Laboratory (LIB)
The Biomedical Imaging Laboratory (LIB) specialises in fundamental and applied research into morphological, functional and molecular biomedical imaging methods for small animals and humans. Our research focuses on the main public health priorities of the 21st century: bone, cancer, cardiovascular and neurological diseases. We are working on new diagnostic and treatment methodologies in our main field of investigation based on microscopic modalities in white light, ultrasound, MRI, CT and SPECT-PET.
Robeauté
Robeauté is developing a microrobot for high-precision neurosurgical applications. The robot, capable of navigating in 3D through brain tissue, will be able to reach sensitive areas of the brain, collect data and deliver therapies locally. At the crossroads of robotics, physics, materials science, chemistry, biology and medicine, this modular medical device consists of a standard support with multiple extensions, enabling the device to be adapted to different medical indications: implanting an electrode, delivering molecules, sampling tissue or collecting live data using sensors. Translated with www.DeepL.com/Translator (free version)
Thesis subject
Two doctoral theses have already focused on the intracerebral localization of the microrobot developed by Robeauté. The first thesis focused on the state of the art of the various possible tracking technologies, before proposing ultrasound as the preferred solution for accurate, real-time, easily deployable and non-invasive tracking [1]. The second thesis focused on the proof-of-concept of a transcranial ultrasound tracking system, demonstrating submillimeter accuracy through a plate of constant thickness (Fig. 1) [2]. This system recently demonstrated its effectiveness in post-mortem and in vivo tests [3].
Given its interdisciplinary nature, the proposed thesis will focus on the further development of the microrobot tracking system, exploring directions of research at the crossroads of robotics, biomedical ultrasound, medical imaging and biology.
The first area of research in this thesis will involve exploring new possibilities for sensors to be embedded in the microrobot, the aim being to reduce size while maintaining sufficient performance for accurate real-time tracking.
A second area of research will involve the use of transcranial ultrasound propagation simulations based on CT scan images of the skull. These simulations will make it possible to take better account of the effect of the skull on the propagation of ultrasound in the brain, and thus to improve the accuracy of the intracerebral localization of the microrobot (Fig. 3A).
A third approach will be to combine ultrasound localization of the microrobot with ultrasound localization microscopy (ULM) developed by Olivier Couture, which can be used to map the cerebral vascular network surrounding the microrobot (Fig. 3B).
Resulting from an industrial collaboration between Robeauté and two university research laboratories, the thesis will focus as much on theoretical research as on its adaptation to the microrobot functional tracking system. The PhD student will therefore work closely with Robeauté researchers to integrate his work into the microrobot deployment system, and will play an active role in post-mortem and in vivo tests on animals and humans.
The following stages are planned:
- In vitro transcranial tracking of the microrobot using an embedded micrometric sensor,
- Development of a new localization algorithm based on transcranial ultrasound propagation simulations,
- Combination of microrobot tracking with ultrasound localization microscopy images,
- Ex vivo and in vivo microrobot tracking tests on animals and humans.
Skills
- Solid grounding in physics
- Writing and communicating in English,
- Willingness to work in multiple research environments (robotics and medical imaging laboratory, start-up environment) and in multiple fields (acoustics, robotics, biology, surgery),
- Working independently,
- Tropism for applied research.
You are not expected to master all these concepts perfectly, but to be willing to grasp and use them quickly.
Duration of the thesis: 3 years
Start of the thesis: 2024 or 2025
Places of work during the thesis
Laboratoire d’Imagerie Biomédicale (LIB) – Campus des Cordeliers, 15 rue de l’école de médecine, Paris – 75006
Institut des Systèmes Intelligents et de Robotique (ISIR) – Campus Pierre et Marie Curie, 4 place Jussieu, Paris – 75005
Robeauté – Pépinière RIVP Pole Innovation Paris Santé Cochin 8-12 Rue Méchain, Paris – 75014
Contact
- Olivier Couture (LIB) –
- Sinan Haliyo (ISIR) – sinan.haliyo@sorbonne-universite.f
- Pierre Zarader (Robeauté) –
Application
Application documents to be enclosed with the application are : CV, covering letter, letters of recommendation and contact details of two references (former internship tutor, teacher, etc.).
Additional information
A 6-month end-of-studies internship, or a 3-month trial period, will be carried out before the start of the thesis.
Confidentiality: Yes
References
[1] Q. François, ‘Microrobot guidance through neuronavigation for microrobotic neurosurgery’, 2020.[2] P. Zarader, Q. François, A. Coudert, B. Duplat, S. Haliyo, and O. Couture, ‘Proof of Concept of an Affordable, Compact and Transcranial Submillimeter Accurate Ultrasound-Based Tracking System’, IEEE Trans. Biomed. Eng., vol. 71, no. 3, pp. 893–903, Mar. 2024, doi: 10.1109/TBME.2023.3322302.
[3] P. Zarader, ‘Transcranial ultrasound tracking of a neurosurgical microrobot’, Sorbonne Université, 2024.
[4] A. Chavignon, ‘Microscopie par localisation ultrasonore dans les modèles d’accidents vasculaires cérébraux’, 2022.