Post-Doctoral Research Visit F/M Software control of an actuated soft-robotic phantom for endoscopy: from simulation to experimental validation

A propos du centre ou de la direction fonctionnelle

Created in 2008, the Inria center at the University of Lille employs 360 people, including 305 scientists in 16 research teams. Recognized for its strong involvement in the socio-economic development of the Hauts-De-France region, the Inria center at the University of Lille maintains a close relationship with large companies and SMEs. By fostering synergies between researchers and industry, Inria contributes to the transfer of skills and expertise in the field of digital technologies, and provides access to the best of European and international research for the benefit of innovation and businesses, particularly in the region.

For over 10 years, the Inria center at the University of Lille has been at the heart of Lille's university and scientific ecosystem, as well as at the heart of Frenchtech, with a technology showroom based on avenue de Bretagne in Lille, on the EuraTechnologies site of economic excellence dedicated to information and communication technologies (ICT).

Contexte et atouts du poste

Horizon Europe project IRE - Intelligent Robotic Endoscopes for Improved Healthcare Services (Call HORIZON-CL4-2023-DIGITAL-EMERGING-01-01). Inria (DEFROST team) is partner No. 3 of the consortium, coordinated by the University of Copenhagen (UCPH), alongside Universidad Rey Juan Carlos (URJC, ES), University of Twente (UTWENTE, NL), Copenhagen Academy for Medical Education and Simulation (CAMES, DK), InSimo (FR), AMBU A/S (DK) and University of Tübingen (UT, DE). The position is attached to work package WP3 "PHANTOM" (led by Inria) and specifically to task T3.3.

Regular travel foreseen: Yes - consortium meetings (WP3 and general assembly meetings) and joint testing/validation sessions with the clinical partners CAMES (Copenhagen) and University of Tübingen are expected; travel expenses covered within the applicable scale.

Mission confiée

Assignments: With the help of Jeremie Dequidt (WP3 leader, Inria DEFROST team) and the WP3/T3.3 consortium partners, the recruited person will be taken to design, develop and validate the control software of the actuated soft-robot phantom (WP3 "PHANTOM", task T3.3), from architecture definition through experimental validation of the prototype (deliverables D3.4, D3.5).

For a better knowledge of the proposed research subject: https://www.defrost.inria.fr/project/horizon-europe-ire-2024-2028/ (project page) and https://www.defrost.inria.fr/research/publications/ (DEFROST team publications)

Collaboration: The recruited person will be in connection with the hardware engineer recruited in parallel on task T3.3, who designs and fabricates the physical actuated phantom prototype, for the joint integration and validation of the robotic phantom's control system - as well as with the WP3/T3.3 partners (University of Twente for soft-robot design and control, CAMES and University of Tübingen for clinical validation, InSimo for the virtual simulation environment of T3.1) for cross-validation of the phantom against the simulator and clinical protocols.

Responsibilities: The person recruited is responsible for the design, implementation and validation of the control software of the actuated soft-robot phantom (task T3.3 of WP3 "PHANTOM"), and will take initiatives for its integration with the physical prototype and with the virtual simulation environment developed in T3.1.

Steering/Management: The person recruited will be in charge of the technical and architectural choices for the phantom's control software, under the scientific supervision of Jeremie Dequidt (WP3 leader, Inria DEFROST team). No direct personnel management is expected, though technical coordination with the hardware engineer on T3.3 is required.

Principales activités

Main activities (5 maximum):

• Analyse the requirements of the WP3 consortium partners (University of Twente, CAMES, University of Tübingen, InSimo) and the technical specifications of the inert phantom delivered by task T3.2, to define the control software architecture.
• Develop the control software of the actuated soft-robot phantom: sensor data acquisition, state estimation, and closed-loop control (position, apparent stiffness, hybrid).
• Design experimental validation platforms and protocols for the actuated phantom, using a force-sensing endoscope and X-ray-synchronized data acquisition.
• Test, calibrate and validate the software up until delivery of the actuated phantom prototype (D3.4) and the experimental validation report (D3.5).
• Integrate the phantom's control software with the virtual simulation environment developed in task T3.1, for cross-validation between simulator and physical device.

Additional activities (3 maximum):

• Write technical documentation and the deliverable reports (D3.4, D3.5) for the consortium and the European Commission.
• Present the work's progress to WP3 partners and at project review meetings.
• Contribute to the dissemination of results (publications, demonstrations) in coordination with the DEFROST team.

Compétences

Technical skills and level required:

• Mechanical/robotic system design and control (position, impedance/stiffness, hybrid control) - advanced level
• Scientific programming (C++ and/or Python) and real-time robotic frameworks (e.g. ROS/ROS2) - advanced level
• Multiscale and multiphysics simulation, shape/topology and system-level design optimization applied to deformable systems - advanced level
• Data-driven design and modelling approaches (machine learning applied to physical/mechanical systems) - intermediate to advanced level
• Sensor signal processing and state estimation (pressure/deformation sensors, inverse-problem solving) - intermediate level, to be consolidated on the job

Languages:

• English: fluent, written and spoken (working language of the consortium) - required
• French: notions useful for daily life at Inria Lille - not mandatory for the position

Relational skills:

• Ability to work autonomously while collaborating closely with the hardware engineer co-located on the same task
• Comfortable operating within an international, multidisciplinary consortium (roboticists, clinicians, industrial partners)
• Clear scientific communication, both written (reports, deliverables) and oral (progress presentations to partners)

Other valued/appreciated:

• Prior experience with the SOFA simulation framework or comparable FEM-based soft-body simulation tools
• Interest in medical robotics / clinical applications
• Open-source contribution experience

Avantages

• Subsidized meals
• Partial reimbursement of public transport costs
• Leave: 7 weeks of annual leave + 10 extra days off due to RTT (statutory reduction in working hours) + possibility of exceptional leave (sick children, moving home, etc.)
• Possibility of teleworking and flexible organization of working hours
• Professional equipment available (videoconferencing, loan of computer equipment, etc.)
• Social, cultural and sports events and activities
• Access to vocational training
• Social security coverage

Rémunération

2 788€ Monthly Gross Salary