Publications

Peer-reviewed journal papers:

  • Sejor E., Berthet-Rayne P. et al. “Calling on the Next Generation of Surgeons”, SAGE: Surgical Innovation, 2022, Link
  • Berthet-Rayne P. et al. “MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection”,  Robotics and Automation Letter (RA-L), 2021. PDF Link Video Presentation
  • Berthet-Rayne P. et al. “Navigation with Minimal Occupation Volume for Teleoperated Snake-Like Surgical Robots”, Frontiers AI and Robotics 2023. PDF Link Video
  • Berthet-Rayne P. et al. “The i²Snake Robotic Platform for Endoscopic Surgery”, Annals of Biomedical Engineering, 2018. PDF Link Video
  • Berthet-Rayne P. et al. “Inverse Kinematics Control Methods for Redundant Snake-Like Robot Teleoperation during Minimally Invasive Surgery”, Robotics and Automation Letter (RA-L), 2018. PDF Link Video

Peer-reviewed conference papers:

  • Przybylski F., Adagolodjo Y., Mira A., Cerruti G., Dequidt J., Duriez C., Berthet-Rayne P. “3D Kinematics and Quasi-Statics of a Growing Robot Eversion”, IEEE International Conference on Soft Robotics (RoboSoft), 2023. PDF Link Video
  • Berthet-Rayne P.*, Schmitz, A.* et al. “ Endoscopic Bi-Manual Robotic Instrument Design Using a Genetic Algorithm”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2019 (* equally contributed). PDF Link Video
  • Berthet-Rayne P. et al. “Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2018. PDF Link Video
  • Berthet-Rayne P. et al. “Inverse Kinematics Control Methods for Redundant Snake-Like Robot Teleoperation during Minimally Invasive Surgery”, IEEE Int. Conf on Robot. and Automation (ICRA), 2018. PDF Link Video
  • Berthet-Rayne P. et al. “Hubot: A three state Human-Robot collaborative framework for bimanual surgical tasks based on learned models”, IEEE Int. Conf on Robot. and Automation (ICRA), 2016. PDF Link Video
  • Hong W., Schmitz A., Bai W, Berthet-Rayne P. et al. “Design and Compensation Control of a Flexible Instrument for NOTES”, IEEE Int. Conf on Robot. and Automation (ICRA), 2020 (in press).
  • Schmitz, A., Treratanakulchai, S., Berthet-Rayne, P. et al. “A Rolling Tip Flexible Instrument for Minimally Invasive Surgery”, IEEE Int. Conf on Robot. and Automation (ICRA), 2019. PDF Link Video
  • Schmitz A., Thompson A.J., Berthet-Rayne P. et al. “Shape Sensing of Miniature Snake-Like Robots Using Optical Fibers”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2017. Link
  • Varghese R.J., Berthet-Rayne P. et al. “A Framework for Sensorless and Autonomous Probe-Tissue Contact Management in Robotic Endomicroscopic Scanning” IEEE Int. Conf on Robot. and Automation (ICRA), 2017. PDF Link Video
  • Bergeles C., Berthet-Rayne P. et al. “Accessible Digital Ophthalmoscopy Based on Liquid-Lens Technology”. International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Springer International Publishing, 2015. PDF Link Video
  • Rozenblit J.W., Feng C., Riojas M., Napalkova L., Hamilton A.J., Hong M., Berthet-Rayne P. et al. “The computer assisted surgical trainer: design, models, and implementation” in Proceedings of the 2014 Summer Simulation Multiconference. 2014. Link Video

Mainstream paper:

  • 2024 November – Planète Robot, Y a-t-il un robot dans la salle? Link

Awards and Achievements:

  • 2025 – World first robotic TAVI on human
  • 2025 – World first use of AI in interventional cardiology on human
  • 2024 – World first Robotic TAVI
  • 2024 – Elected “membre libre”of the French National Academy of Surgery, Link
  • 2023 – i-Nov award for Caranx Medical, Link
  • 2022 – World first in-vivo Robotic Seldinger technique for femoral access
  • 2022 – , Link
  • 2022 – , Link, Video
  • 2021 – 2nd place Queen Mary UK Best PhD in Robotics PDF Link
  • 2020 – PhD Success Story, Imperial College London, Link
  • 2020 – Wiki Commons Science Photo Competition Finalist, “People in science” category. PDF Link
  • 2018 – IEEE IROS Travel Award – The travel award is awarded on a competitive basis.
  • 2018 – IEEE ICRA RAS Travel Grant – The travel grant is awarded on a competitive basis.
  • 2017 – Best Demonstration Award – Hamlyn Christmas Showcase – The i²Snake Robot Virtual Reality Simulator with the Oculus Rift VR system. The best demonstration is selected based on the votes of the visitors of the showcase. PDF
  • 2017 – Best Design Prize, Hamlyn Symposium on Medical Robotics, Robotics Challenge – The best design prize is awarded by an independent judging panel composed of 8 experts from academia, industry (Intuitive Surgical, Kuka robotics) and the medical field. PDF Link
  • 2016 – Best Demonstration Award – Hamlyn Christmas Showcase – The i²Snake robot simulator. The best demonstration is selected based on the votes of the visitors of the showcase. PDF
  • 2015 – Faculty of Medicine Dean’s Prize for the MRes in Medical Robotics and Image Guided Intervention, Imperial College London – The Dean’s Prizes are awarded to the top student for each programme judged by the Course Lead to be outstanding. PDF Video
  • 2015 – Institute of Global Health Innovation PhD Scholarship, Imperial College London – The scholarship is awarded to outstanding students for a duration of 4 years to pursue a PhD.
  • 2015 – Hamlyn Prize for Best MRes Project, Hamlyn Centre for Robotic Surgery, Imperial College London – The Hamlyn prize is awarded to the best student project. PDF Video

Patents:

  1. US12070289B2 – JOINT COMPONENT – 2018 – Link

  2. US2024299106A1 – An Eversion Robot System and Method of Operating the Eversion Robot System – 2020 – Link

  3. US2024206712A1 – INSERTION INSTRUMENTS AND SYSTEMS – 2021 – Link

  4. EP4151174A1 – DEVICE FOR INSERTING AND EXCHANGING A SURGICAL INSTRUMENT – 2021 – Link

  5. EP4151159A1 – APPARATUS FOR PERFORMING A SURGICAL PROCEDURE – 2021 – Link

  6. EP4176854A1 – APPARATUS AND METHOD FOR DELIVERY OF AT LEAST ONE SURGICAL INSTRUMENT – 2021 – Link

  7. EP4201303A1 – INSERTION INSTRUMENT FOR INSERTION INTO A CAVITY – 2021 – Link

  8. EP4272800A1 – A BIOMEDICAL DEVICE […] ALIGNING AN EXTERNAL IMAGING MEANS – 2022 – Link

  9. EP4272661A1 – SURGICAL ACCESS PORT AND SYSTEM COMPRISING A SURGICAL ACCESS PORT – 2022 – Link

  10. EP4285839A1 – APPARATUS FOR REDUCING THE SIZE OF A HOLLOW INTRACORPOREAL TISSUE STRUCTURE – 2022 – Link

  11. EP4335386A1 – OCCLUDING DEVICE FOR CLOSING A WOUND IN A PATIENT – 2022 – Link

  12. EP4335387A1 – ENDOLUMINAL DEVICE AND METHOD FOR CLOSING AN OPENING […] – 2022 – Link

  13. EP4338698A1 – MEDICAL IMAGE PROCESSING APPARATUS FOR GENERATING A DYNAMIC IMAGE OF A PATIENT – 2022 – Link

  14. EP4349241A1 – INSERTION INSTRUMENT […] MANUFACTURING THE INSERTION INSTRUMENT – 2022 – Link

  15. EP4349264A1 – MEDICAL DEVICE AND SYSTEM COMPRISING A MEDICAL DEVICE – 2022 – Link

  16. EP4385449A1 – SYSTEM FOR POSITIONING A MODULE – 2022 – Link

  17. EP4434482A1 – A SYSTEM AND A ROBOTIC ENDOLUMINAL DEVICE […] – 2023 – Link

  18. EP4437995A1 – A ROBOTIC INSTRUMENT MANIPULATION MODULE FOR MEDICAL INSTRUMENTS – 2023 – Link

  19. EP4477155A1 – MANIPULATING DEVICE – 2023 – Link

  20. EP4477173A1 – SYSTEM FOR AUTONOMOUSLY CARRYING OUT A MEDICAL PROCEDURE – 2023 – Link

  21. WO2024256392A1 – SYSTEM, METHOD […] AUTOMATIC PLANNING OF A CLINICAL INTERVENTION – 2023 – Link

  22. EP4477174A1 – SYSTEM, METHOD […] FOR AUTOMATIC PLANNING OF A CLINICAL INTERVENTION – 2023 – Link

  23. EP4487806A1 – CARDIOVASCULAR NAVIGATION AND ACTUATION SYSTEM […] – 2023 – Link

  24. EP4491128A1 – A COMPUTER IMPLEMENTED METHOD […] FOR INTRAVASCULAR ACCESS – 2023 – Link

  25. WO2025045729A1 – A MEDICAL APPARATUS AND A METHOD FOR ENDOSCOPIC GASTRIC REMODELLING – 2023 – Link

  26. EP4512348A1 – A MEDICAL APPARATUS FOR ENDOSCOPIC GASTRIC REMODELLING – 2023 – Link

  27. EP4538990A1 – A COMPUTER-IMPLEMENTED METHOD […] FOR TRAINING A MACHINE-LEARNING MODEL – 2023 – Link

  28. EP4538974A1 – A COMPUTER IMPLEMENTED METHOD […] TO EXECUTE THE STEPS OF THE METHOD – 2023 – Link

Invited Lectures and Outreach:

  • 2026-01-22 Happy School – Introduction to Robotics using NAO, kids aged 5-7, Cagnes s/Mer, FR
  • 2026-01-15 Eurobiomed – Caranx Medical and non-dilutive financing, Nice, FR
  • 2025-07-02 King’s College London Summer School – The Operating Room of the Future: Compact Robots Guided by AI: Introducing Tavipilot – London, UK, Link
  • 2025-06-20 Evo School – “Introduction to Robotics using NAO for kids aged 5-7” – Nice, France
  • 2025-04-16 Académie Nationale de Chirurgie – “Le futur du bloc opératoire : des robots compacts augmentés par l’IA. (TAVIPILOT Caranx medical)” – Paris, FR Link, Video
  • 2025-04-03 Polytech’Nice “AI in Medicine: Caranx Medical” – Sophia Antipolis
  • 2025-01-29 Université Montpellier 2, Polytech’Montpellier – “Expérience personnelle sur la robotique chirugicale” – Montpellier, FR Link
  • 2024-12-12 Francophone cardiologie interventionnelle – Réalité virtuelle et robotique – Institut Pasteur, Paris
  • 2024-12-05 Figaro Big Bang Santé – live debate – Robot chirugicaux – Paris, FR Link(29:32) Link
  • 2024-10-09 MedRobotics place, 2 min pitch – Montpellier, FR Link
  • 2024-08-27 Royal Cornwall Hospital “the next generation of surgeons augmented by robotics vision and AI“- Truro, UK Link
  • 2024-04-11 Hub de l’innovation – 3 min pitch – Nice
  • 2024-04-04 Polytech’Nice “AI in Medicine: Caranx Medical” – Sophia Antipolis
  • 2024-02-15 Eurobiomed Biorezo “Leurs innovations ont été primées : et la suite ?” – Nice
  • 2023-10-11 Académie Nationale de Chirurgie – Paris
  • 2023-05-29 Soft Growing Robots workshop, “Growing robots in endovascular surgery: from Lab to cadaver“, ICRA, London
  • 2023-05-09 TD Organoide from technology to startup – Polytech’Nice Sophia Antipolis
  • 2023-03-14 DU IA et Santé – 3IA – Village by CA Sophia Antipolis
  • 2023-02-10 WAICF AI & Companies week – 3IA – INRIA Sophia Antipolis
  • 2023-01-30 AI & Companies week – 3IA – INRIA Sophia Antipolis
  • 2022-12-06 Hamlyn Winter School on Surgical Imaging and Vision – Imperial College London

Posters:

  • Berthet-Rayne P. et al. “Vision Based Shape Reconstruction of Tendon Driven Snake Like Surgical Robots”, Hamlyn Symposium on Medical Robotics, 2017. Link
  • Leibrandt K., Berthet-Rayne P. et al. “On-line Dexterity Maps for Guiding Redundant Surgical Robots”, Hamlyn Symposium on Medical Robotics, 2017.
  • Schmitz A., Thompson A.J., Berthet-Rayne P. et al. “Discussion of Link Designs for Fibre-optic Shape-Sensing in a Snake-like Robot”, Hamlyn Symposium on Medical Robotics, 2017. Link

Contributions:

  • Berthet-Rayne P., Bowen C., and Alterovitz R., “Demonstration Guided Motion Planning in Laparoscopic Surgery”, 2012. Link Video
  • Bowen C. and Alterovitz R., “Closed-loop global motion planning for reactive execution of learned tasks” in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on. 2014. IEEE. [Acknowledgement]
  • Bowen C., Ye G., and Alterovitz R., “Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps”. [Acknowledgement]