Alexandre Krupa

Contact Email : Alexandre.Krupa@irisa.fr Address : Irisa / Inria Rennes Campus de Beaulieu 35042 Rennes cedex - France Tel : +33 2 99 84 25 85 Fax : +33 2 99 84 71 71 Assistant : +33 2 99 84 22 52 (Hélène de La Ruée)

Background and Position

Research Scientist (chargé de recherche) at Inria Rennes - Bretagne Atlantique since September 2004. I received the M.S. and Ph.D. degrees in control systems and signal processing from the National Polytechnic Institute of Lorraine in 1999 and 2003, respectively. My Ph.D. research work was carried out with the eAVR team (Control Vision and Robotics) in the LSIIT lab (Laboratoire des Sciences de l'Image de l'Informatique et de la Télédétection) that is now iCube at Strasbourg. From 2002 to 2004, I was an assistant associate professor for undergraduate student lectures in electronics, control, and computer programming with Strasbourg University. One year after my recruitment as Inria Research Scientist in the Lagadic group, I spent 9 months as a postdoctoral associate with the Computer Integrated Surgical Systems and Technology Engineering Research Center (ERC CISST) in The Johns Hopkins University during 2006. I defended a habilitation thesis in Signal Processing in December 2012.

My research focuses on the development of methods for visual servoing using the ultrasound modality. I am particularly interested in the development of generic methodological solutions to control all the degrees of freedom of an ultrasound probe mounted on a robot manipulator. The resulting applications are mainly in the context of medical robotics. Aspects of my work involves modeling the interaction between the probe and its environment, determination of visual information relevant to control the system and ultrasound image processing required to extract visual information in real time. My research interests include medical robotics, computer-assisted systems in the medical and surgical fields, and more particularly the control of medical robots by visual servoing using ultrasound images.

Associate Editor of the IEEE Robotics and Automation Letters (IEEE RA-L) since 2015.

Projects

• Leader of the ANR Contint USComp project (2008-2012) that involves collaboration with the Visages team in Rennes, LSIIT in Strasbourg and LIRMM in Montpellier. The goal of this project was to develop methodological solutions for real-time compensation of soft tissues motion during ultrasound imaging.
• Inria partner in the ANR Contint PROSIT project (2008-2012). This project was led by the Prisme lab in Bourges in collaboration with Inria, LIRMM in Montpellier, LMS in Poitiers, CHU of Tours, and the Robosoft company. Its goal was to develop an interactive master-slave robotic platform for medical diagnosis applications (tele-echography) with assistance functionalities.
• Inria partner in the iProcess project (2016-2020). This project granted by the Norwegian Government is composed of a consortium managed by Sintef with Nofima, Univ. of Stavanger, NMBU, NTNU (Norway), DTU (Denmark), KU Leuven (Belgium), and about 10 Norwegian companies. Its main objective is to develop novel concepts and methods for flexible and sustainable food processing in Norway. In this project, I am involved for visual tracking and visual servoing of generic and potentially deformable objects.

PhD students

• Agniva Sengupta
  
• Hadrien Gurnel
  
• Pedro Patlan-Rosales
  
• Lesley-Ann Duflot
  
• Jason Chevrie
  
• Pierre Chatelain
  PhD in 2016 ,
  Research Fellow at Institute of Biomedical Engineering, Oxford University.
• Lucas Royer
  PhD in 2016 ,
  Engineer at IRT b<>com in Rennes.
• Tao Li
  PhD in 2013 ,
  Engineer at VideoStitch (virtual reality) near Paris.
• Caroline Nadeau
  PhD in 2011, co-supervised with François Chaumette ,
  Research Scientist at CEA near Paris.
• Rafik Mebarki
  PhD in 2009, co-supervised with François Chaumette ,
  Research Fellow at Biorobotics Lab, National University of Singapore.

Demonstrations

• Quality-driven ultrasound-based visual servoing
• Visual servoing for ultrasound-guided needle insertion
• Visual servoing from 2D ultrasound using intensity features
• Multi-plane approach for moments based ultrasound visual servoing
• Visual servoing from 2D ultrasound using image moments
• Rigid motion compensation in ultrasound using speckle information
• Robotized 3D ultrasound imaging

Publications

Teaching

• Master SIBM (Signals and Images in Biology and Medicine): "Medical robotics guided from images", 4.5 hours, M2, Université de Rennes 1, Brest and Angers.
• Master FIP TIC-Santé: "Ultrasound visual servoing", 6 hours, M2, Télécom Physique Strasbourg.
• Master INSA3: "Modeling and engineering for Biology and Health applications", 12 hours, M2, INSA Rennes
• Master ESIR3: "Medical imaging", 9 hours, M2, ESIR Rennes.