10 Feb 2024
Job Information
- Organisation/Company
FEMTO-ST- Research Field
Engineering
Computer science » Cybernetics
Engineering- Researcher Profile
Recognised Researcher (R2)
Leading Researcher (R4)
First Stage Researcher (R1)
Established Researcher (R3)- Country
France- Application Deadline
24 Feb 2024 - 22:00 (UTC)- Type of Contract
Temporary- Job Status
Full-time- Offer Starting Date
1 Apr 2024- Is the job funded through the EU Research Framework Programme?
Not funded by an EU programme- Is the Job related to staff position within a Research Infrastructure?
No
Offer Description
In 2020, more than 48,000 cases of colorectal cancer were diagnosed in France and more than 2 million worldwide, the cure rate depending on the stage of the cancer [1,2,3]. Indeed, early diagnosis makes it possible to cure more than 90% of cases, which would save more than 43,000 patients per year [1,2,3]. However, carrying out systematic exams for colorectal cancer from the age of 50 would increase the number of colonoscopies to be performed, which represents a major challenge in terms of material and human resources and patient acceptability.
During the examination, the classical colonoscope is introduced into the patient's rectum and then pushed down until all the areas to be observed are reached. The colonoscope, more or less flexible, relies on the walls of the intestine to deform and progress through the colon. The force exerted by the doctor and the pressures of the endoscope exerted on the colon cause unbearable inconvenience for the patients and sometimes injuries. Recent developments in magnetically actuated endoscopes have demonstrated that they could reduce inconvenience, cost, enhance diagnostic capabilities and improve therapeutic interventions [4]. Although promising, the use of magnetically actuated endoscopes for clinical use is confronted with design and control challenges which are all the greater since the colon is an unstructured and dynamic environment, subject to notable variations, and containing obstacles such as tissue folds, water and debris.
The specificity of magnetic control is that it is very unstable because it does not generate a stable point of equilibrium. Indeed, if the rotation is controllable thanks to the orientation of the field lines, the control of the position is more problematic. The reason is that the magnetic elements are systematically attracted towards the magnet or repelled by it. The magnetic colonoscope (i.e. the robot) is thus systematically pressed against the walls of the intestine. Even if the pressures exerted are lower than those exerted by conventional endoscopes, the forces of friction with the walls of the intestine disturb the progress and the control of the colonoscope and cause inconvenience for the patient. The key point of the proposed solution is the generation of a stable point of equilibrium in position and in orientation thanks to the combination of several magnetic actuators and an external force (tether cord also used for power supply and information transfer). The obtained preliminary results demonstrated that it was possible to control the position and the orientation of a magnetic robot thanks to this approach [6,7]. The colonoscope will thus be able to progress through the colon in the desired direction without exerting pressure on the walls of the intestines. The doctoral work in relation to this thesis subject will be done in collaboration with the Besançon University Hospital of the visceral and digestive surgery department. It will focus on two issues:
- The optimization of a magnetic field actuation system allowing the precise movement and positioning of the colonoscope throughout the digestive tract. This part will be based on the work of a thesis in progress.
- Modeling and control: development of generic tools to model and control complex AI-based systems. This step includes experimental validation on Phantom and ex-vivos organs.
References
Funding category: Contrat doctoral
Région Bourgogne Franche-Comté
PHD Country: France
Requirements
Specific Requirements
The candidates must have a Master’s degree in Robotics, Mechatronics/Electrical Engineering, Computer Science or related fields and must have good programming skills (Matlab, Python and/or C++). Soft skills are required such as: self-motivation, autonomy, creativity, proactivity, organization and good communication capabilities.
Additional Information
Work Location(s)
- Number of offers available
- 1
- Company/Institute
- FEMTO-ST
- Country
- France
- City
- Besançon
- Geofield
Where to apply
- Website
https://www.abg.asso.fr/fr/candidatOffres/show/id_offre/120196
Contact
- Website
http://www.femto-st.fr
STATUS: EXPIRED