Team AVR - Control, Vision and Robotics Lab

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Master internship - Model identification and control of cable robots with flexible cables

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Parallel cable robots are original devices for handling loads in large workspaces with a light structure. They are considered for different applications such as aircraft construction and shipbuilding. ICube laboratory is interested in the control of such devices taking into account the flexibilities of cables and more precisely the inertial effects of their transverse movements. A dynamic model of a 4-wire planar robot has been obtained using the Euler-Lagrange equation based on the hypothesis of assumed modes [1]. From a linearized version of this model, a the H-infinity control law has been synthesized and validated in simulation.

Internship objectives

The objective of this internship is to contribute to the experimental validation of the approaches developed on an experimental setup available in the laboratory (commande_des_robots_à_câbles robot INCA). You will be in charge of:

  • estimating the parameters of the model so as to bring its behavior close to the experimental setup. This will involve carrying out experiments to excite the parameters.
  • implementing the control laws developed and designing experiments to evaluate them.

Durée de stage: 4 to 6 months

Working environment

The internship will take place on the Strasbourg-sud campus (in Illkirch), very well connected to the center by tram (20 minutes), in the Automatic-Vision-Robotics team of the ICube laboratory. You will join a team of 5 people with complementary profiles who will be available to support you.

Profile and application

Currently in the last year of an engineering school or a master's degree, you have a solid training in control which will allow you to propose and implement methods for estimating parameters and to understand the control methods implemented in the project. You are comfortable using the Matlab software which will be used to program the parameter estimation. Your skills in industrial IT will allow you to modify the control program in order to carry out the requested tests. Finally, you have had a significant experience with an experimental setup which will allow you to be quickly operational on the INCA robot used for the tests.

Your application, including a resumé and a cover letter, will be sent to and

[1] J. Ayala Cuevas, E. Laroche, O. Piccin, "Assumed-mode-based dynamic model for cable robots with non-straight cables", Third International Conference on Cable-Driven Parallel Robots, Québec, Canada, Springer, Mechan. Machine Science, Volume 53, août 2017, doi:10.1007/978-3-319-61431-1_2

Ph.D. position in Magnetic Resonance Imaging -- MR Elastography and Thermometry for the monitoring of thermal ablations

The interventional MRI group is looking for a skilled PhD candidate in MR Physics on the following subject: MRI monitoring of temperature and mechanical properties during thermal ablations. This work will be conducted in collaboration with Siemens Healtcare, and PhD should start on October 1st 2019.

Strasbourg hospital is a leading center in clinical interventional MRI. Our team has a strong collaboration with Siemens Healthineers in interventional MRI. We have access to state-of-the art 1.5T interventional MRI scanners for clinical and preclinical studies, equipped with MR compatible Hifu, laser and cryoablation systems.

The candidate should have a MS degree in engineering or in applied physics. He/She should want to work in a highly biomedical environment and should have excellent general scientific skills ranging from basic physics to programming.Applicants should send their resume, motivation letter, cover letters and master's grades

Detailed project and contact information can be found HERE File:PhD_MRE_MRT_Strasbourg_Siemens.pdf

Offer is opened until the position is filled in, no latter than October 1st 2019.

PhD position in medical robotics : Shared control for telemanipulation in minimally invasive surgery

Robotics has brought many advantages for minimally invasive surgery, mainly through telemanipulation platforms. However, while automatic tasks planned from pre-operative images are commonly used in orthopedics or neurosurgery, automatic gestures remain marginal in general and gastrointestinale surgery. This is mainly due to the complexity of completely defining tasks with respect to deformable organs. One intermediate solution could be to couple telemanipulation with automatic motions.

In this PhD project, we want to study the possibility to realize semi-automatic tasks by combining autonomous modes with telemanipulation motions through shared control. We will especially consider control schemes where motions are automatically generated and where the user complement or correct the positioning of the robot.

Two main applications will be considered. One in endoluminal surgery for the control of the STRAS robot developed in ICube, Strasbourg, and one in robot-assisted elastrography for base tongue surgery with the Raven telesurgery platform at LIRMM Montpellier.

Candidate profile

We are looking for a highly motivated student with major in robotics control who wishes to work in the field of computer-assisted medical interventions. Computer vision background will also be valued in the scope of the project.

A Master degree or equivalent is mandatory at the time of starting the PhD.


Proficiency in one high-level programming language such as C / C++ is expected. Note that speaking French is not required. In this case B2 level in English will be necessary.

PhD practical information

The PhD shall start in Fall 2019 (between October and December). The position will be funded by CAMI labex, a joint effort for promoting computer-assisted interventions in France. The PhD will be carried out between the University of Strasbourg (ICube lab) and the University of Montpellier (LIRMM lab). ICube is a center of excellence for surgical robotics in the digestive tract. LIRMM is a top-rated laboratory for medical robotics.

Application Applications are accepted from now on. The call is open until fulfillment of the position.

For applying send the following supporting material to Florent Nageotte, :

  • CV
  • Cover letter
  • Grades of Master

Additional information

Contact for additional information: Florent Nageotte, -->

Open PhD Position in Computer Vision/Deep Learning for Healthcare Sponsored by Intuitive Surgical

The operating room is a high-tech environment in which the surgical devices generate a lot of data about the underlying surgical activities. Our research group aims at making use of this large amount of multi-modal data coming from both cameras and surgical devices to develop an artificial intelligence system that can assist clinicians and staff in the surgical workflow. In this context, we currently have a new PhD position at the University of Strasbourg that will focus on developing machine learning and computer vision methods to understand the scene of the operating room, recognize the human activities, and analyze the workflow. The project will use as input multi-view RGB-D videos capturing surgical activities.

As this PhD position is funded by a fellowship from Intuitive Surgical, the successful candidate will have the opportunity to interact with researchers from Intuitive Surgical and also to conduct internships at the company in Sunnyvale, California.

More information is available here

Open Internship Positions within Project CAMMA

We are looking for motivated and talented students with knowledge in computer vision, machine learning and/or augmented reality who can contribute to the development of our computer vision system for the operating room.

Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 4 to 6 months). The successful candidates will be part of a dynamic and international research group hosted within the IRCAD institute at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and the MixSurg Institute.


  • Deep Learning for Activity Recognition in Large Video Databases
  • Multi-view Human Body Tracking for the Operating Room using RGBD Cameras

More information about CAMMA


Open Postdoc/Research Engineer Position in Computer Vision/Deep Learning within Project CAMMA

We are looking for a research engineer in Computer Vision/deep Learning to join the development of our clinical prototypes. The project involves the perception of the Operating Room through a set of RGB-D cameras mounted on the ceiling as well as the recognition of surgical activities using both RGB-D and endoscopic videos. More information is available here.

Ph.D. positions in Surgical Robotics -- autonomous intraluminal surgery

The ATLAS project is a Marie Curie ITN-EJD (Innovative Training Network – European Joint Doctorate). The project is coordinated by KU Leuven, with partners in France (ICube laborataory), Italy, Netherlands, and Spain. Within this scheme, 15 Ph.D. positions are funded. We are looking for candidates in the following areas :

  • lumen reconstruction and lumen modelling,
  • sensor technology for intraluminal perception,
  • actuation technology for continuum robots,
  • distributed control and decision making for autonomous continuum robots.

Interested candidates will find detailed informations on the project website :

Please note that specific conditions apply for candidates, see the following webpage for details :

The first round of applications will close on January 15, 2019.