Publications of Alexandre Krupa

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Proceedings

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

Academic Journals

1. 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, April 2010.
2. 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.
3. 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, November 2006.
4. A. Krupa, G. Morel, M. de Mathelin. Achieving High Precision Laparoscopic Manipulation Through Adaptive Force Control. Advanced Robotics, 18(9):905-926, September 2004.
5. 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, October 2003.

Book Chapters

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.

International Conferences

1. 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, Saint Paul, USA, May 2012.
2. 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, September 2011.
3. T. Li, A. Krupa, C. Collewet. A robust parametric active contour based on Fourier descriptors. In IEEE Int. Conf. on Image Processing, ICIP'11, Brussels, Belgium, September 2011.
4. 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, September 2011.
5. 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, September 2011.
6. 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, May 2011.
7. 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, October 2010.
8. 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, May 2009.
9. 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, Japan, May 2009.
10. 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, September 2008.
11. 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, California, May 2008.
12. 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, Australia, October 2007.
13. 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.), Roma, Italy, April 2007.
14. 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, Roma, Italy, April 2007.
15. W. Bachta, A. Krupa. Towards ultrasound image-based visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'2006, Pages 4112-4117, Orlando, Florida, May 2006.
16. 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, Florida, May 2006.
17. 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, August 2005.
18. 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, May 2003.
19. 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, Switzerland, October 2002.
20. 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, September 2002.
21. 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, September 2002.
22. 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, Italia, July 2002.
23. 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, June 2002.
24. 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, May 2002.
25. 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, May 2002.
26. 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, The Netherland, October 2001.
27. 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, December 2000.
28. 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, November 1999.

Invited Conferences

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, May 2010.
2. A. Krupa. Asservissement visuel par imagerie médicale. In Journées Nationales de la Recherche en Robotique, JNRR'09, Neuvy-sur-Barangeon, France, November 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,, May 2009.

National Conferences

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, June 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, April 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, September 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.

Misc

1. 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, October 2003.
2. 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, January 2002.
3. 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, December 2000.
4. 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, June 2000.
5. 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, February 2000.

Thesis

1. A. Krupa. Commande par vision d'un robot de chirurgie laparoscopique. PhD Thesis Institut National Polytechnique de Lorraine, July 2003.

Master's theses

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

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