Publications de Alexandre Krupa

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Thèses

1. A. Krupa. Contributions à l'asservissement visuel échographique. Habilitation à diriger des recherches de l'Université Rennes 1, Décembre 2012.
2. A. Krupa. Commande par vision d'un robot de chirurgie laparoscopique. Thèse de l'Institut National Polytechnique de Lorraine, Juillet 2003.

Articles de journaux

1. M. Aggravi, D. Estima, A. Krupa, S. Misra, C. Pacchierotti. Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback. IEEE Robotics and Automation Letters (also presented at ICRA'21), 6(3):4859-4866, Juillet 2021.
2. R. Lageau, A. Krupa, M. Marchal. Automatic Shape Control of Deformable Wires based on Model-Free Visual Servoing. IEEE Robotics and Automation Letters (also presented at IROS'20), 5(4):5252-5259, Octobre 2020.
3. L.-A. Duflot, R. Reisenhofer, B. Tamadazte, N. Andreff, A. Krupa. Wavelet and Shearlet-based Image Representations for Visual Servoing. The Int. Journal of Robotics Research, 38(4):422-450, Avril 2019.
4. V. De Luca, J. Banerjee, A. Hallack, S. Kondo, M. Makhinya, D. Nouri, L. Royer, A. Cifor, G. Dardenne, O. Goksel, M. Gooding, C. Klink, A. Krupa, A. Le Bras, M. Marchal, A. Moelker, W. Niessen, B. Papiez, A. Rothberg, J. Schnabel, T. van Walsum, E. Harris, M. Lediju Bell, C. Tanner. Evaluation of 2D and 3D ultrasound tracking algorithms and impact on ultrasound-guided liver radiotherapy margins. Medical Physics, 45(11):4986-5003, Novembre 2018.
5. J. Chevrie, N. Shahriari, M. Babel, A. Krupa, S. Misra. Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback. IEEE Robotics and Automation Letters (also presented at ICRA'18), 3(3):2338-2345, Juillet 2018.
6. P. Chatelain, A. Krupa, N. Navab. Confidence-Driven Control of an Ultrasound Probe. IEEE Trans. on Robotics, 33(6):1410-1424, Décembre 2017.
7. L. Royer, A. Krupa, G. Dardenne, A. Le Bras, E. Marchand, M. Marchal. Real-time Target Tracking of Soft Tissues in 3D Ultrasound Images Based on Robust Visual Information and Mechanical Simulation. Medical Image Analysis, 35:582-598, Janvier 2017.
8. C. Nadeau, A. Krupa, J. Petr, C. Barillot. Moments-based ultrasound visual servoing: from mono to multi-plane approach. IEEE Trans. on Robotics, 32(6):1558-1564, Décembre 2016.
9. A. Krupa, D. Folio, C. Novales, P. Vieyres, T. Li. Robotized Tele-Echography: an Assisting Visibility Tool to Support Expert Diagnostic. IEEE Systems Journal, (3):974-983, Septembre 2016.
10. V. Karakkat-Narayanan, F. Pasteau, M. Marchal, A. Krupa, M. Babel. Vision-based adaptive assistance and haptic guidance for safe wheelchair corridor following. Computer Vision and Image Understanding, CVIU, SI on Assistive Robotics and CV, pages 171-185, Août 2016.
11. C. Nadeau, H. Ren, A. Krupa, P. Dupont. Intensity-based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes. IEEE Trans. on Automation Science and Engineering, 12(1):367-371, Janvier 2015.
12. C. Nadeau, A. Krupa. Intensity-based ultrasound visual servoing: modeling and validation with 2D and 3D probes. IEEE. Trans. on Robotics, 29(4):1003-1015, Août 2013.
13. R. Mebarki, A. Krupa, F. Chaumette. 2D ultrasound probe complete guidance by visual servoing using image moments. IEEE Trans. on Robotics, 26(2):296-306, Avril 2010.
14. A. Krupa, G. Fichtinger, G.D. Hager. Real-time motion stabilization with B-mode ultrasound using image speckle information and visual servoing. The International Journal of Robotics Research, IJRR, Special Issue on Medical Robotics, Ayache, N. and Desai, J. (Eds.), 28(10):1334-1354, 2009.
15. A. Krupa, F. Chaumette. Guidance of an ultrasound probe by visual servoing. Advanced Robotics, Special issue on "Selected papers from IROS'05", 20(11):1203-1218, Novembre 2006.
16. A. Krupa, G. Morel, M. de Mathelin. Achieving High Precision Laparoscopic Manipulation Through Adaptive Force Control. Advanced Robotics, 18(9):905-926, Septembre 2004.
17. A. Krupa, J. Gangloff, C Doignon, M. de Mathelin, G. Morel, J. Leroy, L. Soler, J. Marescaux. Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing. IEEE Trans. on Robotics and Automation, Special issue on Medical Robotics, R.H. Taylor (eds.), 19(5):842-853, Octobre 2003.

Chapitres de livres

1. C. Doignon, F. Nageotte, B. Maurin, A. Krupa. Pose estimation and feature tracking for robot assisted surgery with medical imaging. In Unifying Perspectives in Computational and Robot Vision, D. Kragic, V. Kyrki (eds.), Springer Verlag, 2007.

Conférences internationales

1. L. Smolentsev, A. Krupa, F. Chaumette. Shape visual servoing of a tether cable from parabolic features. In IEEE Int. Conf. on Robotics and Automation, ICRA'23, London, UK, Mai 2023.
2. F. Makiyeh, M. Marchal, F. Chaumette, A. Krupa. Indirect Positioning of a 3D Point on a Soft Object Using RGB-D Visual Servoing and a Mass-Spring Model. In Int.Conf. on Control, Automation, Robotics and Vision, ICARCV'22, Singapore, Décembre 2022.
3. A. Sengupta, A. Krupa, E. Marchand. Visual Tracking of Deforming Objects Using Physics-based Models. In IEEE Int. Conf. on Robotics and Automation, ICRA'21, Pages 14178-14184, Xi'an, China, Mai 2021.
4. P. Patlan-Rosales, A. Krupa. Robotic assistance for ultrasound elastography providing autonomous palpation with teleoperation and haptic feedback capabilities. In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob, New York, USA, Novembre 2020.
5. A. Sengupta, R. Lagneau, A. Krupa, E. Marchand, M. Marchal. Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects. In IEEE Int. Conf. on Robotics and Automation, ICRA'20, Pages 10038-10044, Paris, France, Juin 2020.
6. R. Lagneau, A. Krupa, M. Marchal. Active Deformation through Visual Servoing of Soft Objects. In IEEE Int. Conf. on Robotics and Automation, ICRA'20, Pages 8978-8984, Paris, France, Juin 2020.
7. H. Gurnel, M. Marchal, L. Launay, L. Beuzit, A. Krupa. Design of haptic guides for pre-positioning assistance of a comanipulated needle. In IEEE International Conference on Systems, Man, and Cybernetics, SMC'19, Bari, Italy, Octobre 2019.
8. A. Sengupta, A. Krupa, E. Marchand. Tracking of Non-Rigid Objects using RGB-D Camera. In IEEE International Conference on Systems, Man, and Cybernetics, SMC'19, Pages 3310-3317, Bari, Italy, Octobre 2019.
9. A. Sengupta, A. Krupa, E. Marchand. RGB-D tracking of complex shapes using coarse object models. In IEEE Int. Conf. on Image Processing, ICIP'19, Pages 3980-3984, Taipei, Taiwan, Septembre 2019.
10. H. Gurnel, M. Marchal, L. Launay, L. Beuzit, A. Krupa. Preliminary evaluation of haptic guidance for pre-positioning a comanipulated needle. In SURGETICA 2019, Rennes, France, Juin 2019.
11. J. Chevrie, A. Krupa, M. Babel. Real-time Teleoperation of Flexible Beveled-tip Needle Insertion using Haptic Force Feedback and 3D Ultrasound Guidance. In IEEE Int. Conf. on Robotics and Automation, ICRA'19, Pages 2700-2706, Montreal, Canada, Mai 2019.
12. L.-A. Duflot, B. Tamadazte, N. Andreff, A. Krupa. Wavelet-based visual servoing using OCT images. In IEEE/EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, BioRob'2018, Enschede, Netherlands, Août 2018.
13. P.A. Patlan-Rosales, A. Krupa. Strain estimation of moving tissue based on automatic motion compensation by ultrasound visual servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'17, Pages 2941-2946, Vancouver, Canada, Septembre 2017.
14. P.A. Patlan-Rosales, A. Krupa. A robotic control framework for 3-D quantitative ultrasound elastography. In IEEE Int. Conf. on Robotics and Automation, ICRA'17, Singapore, Mai 2017.
15. L.-A. Duflot, A. Krupa, B. Tamadazte, N. Andreff. Shearlet-based vs. Photometric-based Visual Servoing for Robot-assisted Medical Applications. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Pages 4099-4104, Daejeon, Corée du Sud, Octobre 2016.
16. P. A. Patlan-Rosales, A. Krupa. Automatic palpation for quantitative ultrasound elastography by visual servoing and force control. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Pages 2357-2362, Daejeon, Corée du Sud, Octobre 2016.
17. J. Chevrie, A. Krupa, M. Babel. Online prediction of needle shape deformation in moving soft tissues from visual feedback. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Pages 2375-2380, Daejeon, Corée du Sud, Octobre 2016.
18. L.-A. Duflot, A. Krupa, B. Tamadazte, N. Andreff. Shearlet Transform: a Good Candidate for Compressed Sensing in Optical Coherence Tomography. In IEEE Int. Conf. on Engineering in Medicine and Biology Society, EMBC'16, Pages 435-438, Orlando, Florida, USA, Août 2016.
19. L.-A. Duflot, A. Krupa, B. Tamadazte, N. Andreff. Towards ultrasound-based visual servoing using shearlet coefficients. In IEEE Int. Conf. on Robotics and Automation, ICRA'16, Pages 3420-3425, Stockholm, Sweden, Mai 2016.
20. P. Chatelain, A. Krupa, N. Navab. Confidence-driven control of an ultrasound probe: target-specific acoustic window optimization. In IEEE Int. Conf. on Robotics and Automation, ICRA'16, Pages 3441-3446, Stockholm, Sweden, Mai 2016.
21. J. Chevrie, A. Krupa, M. Babel. Needle steering fusing direct base manipulation and tip-based control. In IEEE Int. Conf. on Robotics and Automation, ICRA'16, Pages 4450-4455, Stockholm, Sweden, Mai 2016.
22. L. Royer, G. Dardenne, A. Le Bras, M. Marchal, A. Krupa. Tracking of Non-rigid Targets in 3D US Images: Results on CLUST 2015. In Proceedings of MICCAI 2015 Challenge on Liver Ultrasound Tracking, Munich, Germany, Octobre 2015.
23. P. Chatelain, A. Krupa, N. Navab. Optimization of ultrasound image quality via visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'15, Pages 5997-6002, Seattle, WA, Mai 2015.
24. P. Chatelain, A. Krupa, N. Navab. 3D ultrasound-guided robotic steering of a flexible needle via visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'15, Pages 2250-2255, Seattle, WA, Mai 2015.
25. L. Royer, M. Marchal, A. Le Bras, G. Dardenne, A. Krupa. Real-time tracking of deformable target in 3D ultrasound images. In IEEE Int. Conf. on Robotics and Automation, ICRA'15, Pages 2430-2435, Seattle, WA, Mai 2015.
26. L. Royer, M. Marchal, A. Le Bras, G. Dardenne, A. Krupa. Tracking of Deformable Target in 2D Ultrasound Images. In SPIE Medical Imaging Conference, Orlando, USA, Février 2015.
27. A. Krupa. 3D steering of a flexible needle by visual servoing. In Int. Conf. on Medical Image Computing and Computer Assisted Intervention, MICCAI 2014, Pages 480-487, Boston, Septembre 2014.
28. A. Krupa. A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks. In 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob, Pages 301-307, Sao Paulo, Brazil, Août 2014.
29. F. Pasteau, A. Krupa, M. Babel. Vision-based assistance for wheelchair navigation along corridors. In IEEE Int. Conf. on Robotics and Automation, ICRA'14, Pages 4430-4435, Hong Kong, China, Juin 2014.
30. L. Royer, M. Babel, A. Krupa. Non-rigid target tracking in 2D ultrasound images using hierarchical grid interpolation. In SPIE Medical Imaging conference, San Diego, CA, Février 2014.
31. P. Chatelain, A. Krupa, M. Marchal. Real-time needle detection and tracking using a visually servoed 3D ultrasound probe. In IEEE Int. Conf. on Robotics and Automation, ICRA'13, Pages 1668-1673, Karlsruhe, Allemagne, Mai 2013.
32. C. Nadeau, H. Ren, A. Krupa, P.E. Dupont. Target tracking in 3D ultrasound volumes by direct visual servoing. In Hamlyn Symposium on Medical robotics, London, UK, Juillet 2012.
33. C. Nadeau, A. Krupa, N. Zemiti, P. Poignet, J. Gangloff. Active stabilization of ultrasound image for robotically-assisted medical procedures. In Hamlyn Symposium on Medical robotics, London, UK, Juillet 2012.
34. T. Li, O. Kermorgant, A. Krupa. Maintaining visibility constraints during tele-echography with ultrasound visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'12, Pages 4856-4861, Saint Paul, USA, Mai 2012.
35. D. Lee, A. Krupa. Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, Pages 2831-2836, San Francisco, USA, Septembre 2011.
36. T. Li, A. Krupa, C. Collewet. A robust parametric active contour based on Fourier descriptors. In IEEE Int. Conf. on Image Processing, ICIP'11, Bruxelles, Belgique, Septembre 2011.
37. C. Nadeau, A. Krupa, J. Gangloff. Automatic Tracking of an Organ Section with an Ultrasound Probe: Compensation of Respiratory Motion. In Int. Conf. on Medical Image Computing and Computer Assisted Intervention, MICCAI'11, Toronto, Canada, Septembre 2011.
38. C. Nadeau, A. Krupa. Improving ultrasound intensity-based visual servoing: tracking and positioning tasks with 2D and bi-plane probes. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, Pages 2837-2842, San Francisco, USA, Septembre 2011.
39. C. Nadeau, A. Krupa. Intensity-based direct visual servoing of an ultrasound probe. In IEEE Int. Conf. on Robotics and Automation, ICRA'11, Pages 5677-5682, Shanghai, China, Mai 2011.
40. C. Nadeau, A. Krupa. A multi-plane approach for ultrasound visual servoing: application to a registration task. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Pages 5706-5711, Taipei, Taiwan, Octobre 2010.
41. A. Fonte, T. Essomba, P. Vieyres, J. and. Fraisse, P. Canou, S. Zeghloul, A. Krupa, P. Arbeille. Robotic Platform for an Interactive Tele-echographic System: The PROSIT ANR-2008 project. In Hamlyn Symposium on Medical robotics, London, UK, Mai 2010.
42. A. Krupa, G. Fichtinger, G.D. Hager. Rigid motion compensation with a robotized 2D ultrasound probe using speckle information and visual servoing. In Advanced Sensing and Sensor Integration in Medical Robotics, Workshop at the IEEE Int. Conf. on Robotics and Automation, D. Burschka, G.D. Hager, R. Konietschke, A.M. Okamura (eds.), Kobe, Japan, Mai 2009.
43. R. Mebarki, A. Krupa, F. Chaumette. Modeling and 3D local estimation for in-plane and out-of-plane motion guidance by 2D ultrasound-based visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'09, Pages 319-325, Kobe, Japon, Mai 2009.
44. R. Mebarki, A. Krupa, C. Collewet. Automatic guidance of an ultrasound probe by visual servoing based on B-mode image moments. In Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'08, LNCS 5242, D. Metaxas, L. Axel, G. Fichtinger, G. Szekely (eds.), Pages 339-346, New York, Septembre 2008.
45. R. Mebarki, A. Krupa, F. Chaumette. Image moments-based ultrasound visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'08, Pages 113-119, Pasadena, Californie, Mai 2008.
46. A. Krupa, G. Fichtinger, G.D. Hager. Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing. In Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'07, N. Ayache, S. Ourselin, A. Maeder (eds.), LNCS 4792, Volume 2, Pages 1-8, Brisbane, Australie, Octobre 2007.
47. C. Doignon, F. Nageotte, B. Maurin, A. Krupa. Model-based 3-D pose estimation and feature tracking for robot assisted surgery with medical imaging. In From Features to Actions - Unifying Perspectives in Computational and Robot Vision, Workshop at the IEEE Int. Conf. on Robotics and Automation, D. Kragic (ed.), Rome, Italie, Avril 2007.
48. A. Krupa, G. Fichtinger, G. Hager. Full motion tracking in ultrasound using image speckle information and visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'07, Pages 2458-2464, Rome, Italie, Avril 2007.
49. W. Bachta, A. Krupa. Towards ultrasound image-based visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'2006, Pages 4112-4117, Orlando, Floride, Mai 2006.
50. A. Krupa. Automatic calibration of a robotized 3D ultrasound imaging system by visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'2006, Pages 4136-4141, Orlando, Floride, Mai 2006.
51. A. Krupa, F. Chaumette. Control of an ultrasound probe by adaptive visual servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'05, Volume 2, Pages 2007-2012, Edmonton, Canada, Août 2005.
52. S. Boudjabi, A. Ferreira, A. Krupa. Modeling and vision-based control of a micro catheter head for teleoperated in-pipe inspection. In IEEE Int. Conf. on Robotics and Automation, ICRA'03, Pages 4282-4287, Taipei, Taiwan, Mai 2003.
53. A. Krupa, C. Doignon, J. Gangloff, M. de Mathelin. Combined image-based and depth visual servoing applied to robotized laparoscopic surgery. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'02, Lausanne, Suisse, Octobre 2002.
54. R. Ginhoux, A. Krupa, J. Gangloff, M. de Mathelin, L. Soler. Active Mechanical Filtering of Breathing-Induced Motion in Robotized Laparoscopy. In Surgetica'2002: Computer-Aided Medical Interventions: tools and applications, Grenoble, France, Septembre 2002.
55. A. Krupa, M. de Mathelin, C. Doignon, J. Gangloff, G. Morel, L. Soler, J. Leroy, J. Marescaux. Automatic 3-D positioning of surgical instruments during robotized laparoscopic surgery using automatic visual feedback. In Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'02, T. Dohi, R. Kikinis (eds.), Lecture Notes in Computer Science, Volume 2488, Pages 9-16, Tokyo, Japon, Septembre 2002.
56. A. Krupa, C. Doignon, J. Gangloff, M. de Mathelin, G. Morel, L. Soler, J. Leroy, M. Ghodoussi. Towards semi-autonomy in laparoscopic surgery : first live experiments. In Int. Symp. on Experimental Robotics, ISER'02, Sant'Angelo d'Ischia, Italie, Juillet 2002.
57. A. Krupa, M. de Mathelin, J. Gangloff, C. Doignon, G. Morel. A vision system for automatic 3D positioning of surgical instruments for laparoscopic surgery with robot. In Int Symp. on Measurement and Control in Robotics, Bourges, France, Juin 2002.
58. A. Krupa, G. Morel, M. de Mathelin. Achieving high precision laparoscopic manipulation through adaptive force control. In IEEE Int. Conf. on Robotics and Automation, ICRA'02, Pages 1864-1869, Washington DC, USA, Mai 2002.
59. A. Krupa, J. Gangloff, M. de Mathelin, C. Doignon, G. Morel, L. Soler, J. Leroy, J. Maresceaux. Autonomous retrieval and positioning of surgical instruments in robotized laparoscopic surgery using visual servoing and laser pointers. In IEEE Int. Conf. on Robotics and Automation, ICRA'02, Pages 3769-3774, Washington DC, USA, Mai 2002.
60. A. Krupa, M. de Mathelin, C. Doignon, J. Gangloff, G. Morel, L. Soler, J. Maresceaux. Development of semi-autonomous control modes in laparoscopic surgery using visual servoing. In Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, MICCAI'01, W.J. Niessen, M.A. Viergever (eds.), Lecture Notes in Computer Science, Volume 2208, Pages 1306-1307, Utrecht, Pays-Bas, Octobre 2001.
61. A. Krupa, C. Doignon, J. Gangloff, M. de Mathelin, L. Soler, G. Morel. Towards semi-autonomy in laparoscopic surgery through vision and force feedback control. In Int. Symp. on Experimental Robotics, ISER'00, Lecture Notes in Control and Information Sciences, Volume 271, Pages 189-198, Hawaii,USA, Décembre 2000.
62. A. Krupa, G. Morel, M. de Mathelin. Vision based control of a micro-endoscope head actuated with shape memory alloy wires. In IARP Workshop on Micro Robots, Micro Machines and Systems, Pages 122-127, Moscou, Russie, Novembre 1999.

Conférences invitées

1. A. Krupa. Two approaches for the complete guidance of a robotized ultrasound probe using visual servoing. In International Symposium of the Global Center of Excellence for Mechanical Systems Innovation, GMSI 2010, Tokyo, Japan, Mai 2010.
2. A. Krupa. Asservissement visuel par imagerie médicale. In Journées Nationales de la Recherche en Robotique, JNRR'09, Neuvy-sur-Barangeon, France, Novembre 2009.
3. A. Krupa. Automatic guidance of robotized ultrasound probe by visual servoing. In France-Japan Research Workshop on Medical and Surgical Robotics, JPMRW'09, Organized by the Embassy of France in Japan and the University of Tokyo,, Mai 2009.

Conférences nationales

1. T. Li, A. Krupa, C. Collewet. Un contour actif robuste basé sur les descripteurs de Fourier. In ORASIS'11, journées francophones des jeunes chercheurs en vision par ordinateur, Praz-sur-Arly, France, Juin 2011.
2. C. Nadeau, A. Krupa. Asservissement visuel direct d'une sonde échographique. In Recherche en Imagerie et Technologies pour la Santé, RITS'11, Rennes, France, Avril 2011.
3. A. Krupa, M. de Mathelin. Aide au geste chirurgical par asservissement visuel en chirurgie laparoscopique robotisée. In Colloque IMVIE - Imagerie pour les Sciences du Vivant et de la Médecine, Exposé diffusée par la chaîne TV de l'enseignement supérieur sur Canal-U, Strasbourg, France, Septembre 2003.
4. A. Krupa, M. de Mathelin, C. Doignon, J. Gangloff, G. Morel, L. Soler, J. Leroy, J. Marescaux. Automatic positioning of surgical instruments during laparoscopic surgery with robots using automatic visual feedback. In Conference on Modelling and Simulation for Computer aided Medicine and Surgery, MS4CMS'02, Rocquencourt, France, 2002.

Proceedings

1. E. Marchand, L. Morin, A. Krupa (eds.). Actes des 12e Journées ORASIS, Congrès des jeunes chercheurs en vision par ordinateur. Trégastel, France, Juin 2009.

Divers

1. P.A. Patlan-Rosales, A. Krupa. A general framework for automatic robotic palpation. Workshop on Medical Imaging Robotics, IROS'17, Septembre 2017.
2. L. Royer, M. Marchal, A. Le Bras, G. Dardenne, A. Krupa. Interactive Tracking of Soft Tissues in 2D Ultrasound Images. SURGETICA 2014, Chambery, France, Décembre 2014.
3. A. Krupa. Medical robot guidance based on ultrasound imaging and visual servoing. Tutorial on Mechatronics for medical robotics at IEEE/ASME Advanced Intelligent Mechatronics, Juillet 2014.
4. S. Charbonnier, A. Krupa. Au coeur des hommes. DocSciences, Entre les hommes et les machines, automatique et traitement du signal, pp. 19-27, Mai 2013.
5. A. Krupa. Récupération et positionnement automatique d'un instrument chirurgical en laparoscopie. Session de démonstration robotique aux « quatrièmes Journées Nationales de Recherche en Robotique », Clermont-Ferrand, France, Octobre 2003.
6. A. Krupa. Récupération et positionnement automatique de l'outil chirurgical en chirugie mini-invasive robotisée par asservissement visuel et pointage laser. Journée des jeunes chercheurs en robotique, 15ème édition, Strasbourg, France, Janvier 2002.
7. A. Krupa, C. Doignon, J. Gangloff, M. de Mathelin, G. Morel, L. Soler. Réalisation de tâches semi-autonomes avec un robot de chirugie laparoscopique par retour d'effort et asservissement visuel. Journée du GT5 du PRC-GDR ISIS, Rennes, France, Décembre 2000.
8. A. Krupa, G. Morel, M. de Mathelin. Asservissement visuel d'une micro-caméra actionnée par fibres à mémoire de forme. Troisièmes journées du Pôle Micro-robotique, Paris, France, Juin 2000.
9. A. Krupa, G. Morel, M. de Mathelin. Commande dans l'image d'une tête de caméra endoscopique actionnée par fils à mémoire de forme. Journée des jeunes chercheurs en robotique, 12ème édition, Bourges, France, Février 2000.

Thèses de Master

1. A. Krupa. Asservissement visuel d'un micro-système constitué de fibres en alliage à mémoire de forme. Thèse de master Institut National Polytechnique de Lorraine, DEA Automatique et Traitement Numérique du Signal, Septembre 1999.

Thèses encadrées

1. R. Lagneau. Shape control of deformable objects by adaptive visual servoing. Thèse de l'INSA Rennes, Décembre 2020.
2. A. Sengupta. Visual Tracking of Deformable Objects with RGB-D Camera. Thèse de l'Université de Rennes 1, Juin 2020.
3. H. Gurnel. Needle comanipulation with haptic guidance for percutaneous interventions. Thèse de l'INSA de Rennes, Janvier 2020.
4. L.-A. Duflot. Asservissement visuel direct utilisant les décompositions en shearlets et en ondelettes de l'image. Thèse de l'Université de Rennes 1, Juillet 2018.
5. P. Patlan-Rosales. A robotic control framework for quantitative ultrasound elastography. Thèse de l'Université de Rennes 1, Janvier 2018.
6. J. Chevrie. Flexible Needle Steering using Ultrasound Visual Servoing. Thèse de l'Université de Rennes 1, Décembre 2017.
7. L. Royer. Real-time tracking of deformable targets in 3D ultrasound sequences. Thèse de l'INSA de Rennes, Décembre 2016.
8. P. Chatelain. Quality-Driven Control of a Robotized Ultrasound Probe. Thèse de l'Université de Rennes 1, Décembre 2016.
9. T. Li. Commande d'un robot de télé-échographie par asservissement visuel. Thèse de l'Université de Rennes 1, Février 2013.
10. C. Nadeau. Asservissement visuel échographique : application au positionnement et au suivi de coupes anatomiques. Thèse de l'Université de Rennes 1, Mention Traitement du Signal, Novembre 2011.
11. R. Mebarki. Automatic guidance of robotized 2D ultrasound probes with visual servoing based on image moments. Thèse de l'Université de Rennes 1, Mention Traitement du Signal, Mars 2010.

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