Papers
3
Total Citations
26
H-Index
3
About
Thibault Poignonec is a researcher at the forefront of medical robotics, specializing in the control and modeling of continuum and cable-driven robots for minimally invasive surgery. His work addresses a critical challenge in this field: the non-linear behaviors—such as backlash and hysteresis—that undermine the precision of flexible endoscopic systems. Poignonec’s major contributions include developing an *in situ* backlash estimation method using an endoscopic camera, enabling more accurate control of tendon-driven robots without requiring external sensors. This work, his most cited paper (19 citations), offers a practical solution for real-world surgical environments. He has also advanced teleoperation by introducing a geometrical approach for simultaneous haptic guidance and task learning, improving dexterity even when pre-operative registrations are imperfect. Most recently, Poignonec has tackled the problem of online model identification with a fading memory discontinuous Extended Kalman Filter, allowing robots to adapt to evolving backlash during procedures. His research is pivotal for bridging the gap between theoretical robot control and the unpredictable conditions of *in vivo* surgery, promising safer and more reliable autonomous and teleoperated interventions.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3