Towards Semi-autonomy in Laparoscopic Surgery through Vision and Force Feedback Control. - Alexandre Krupa; Christophe Doignon; Jacques Gangloff; Michel de Mathelin; Luc Soler; Guillaume Morel (ISER, 2000)

Development of Semi-autonomous Control Modes in Laparoscopic Surgery Using Automatic Visual Servoing. - Alexandre Krupa; Michel de Mathelin; Christophe Doignon; Jacques Gangloff; Guillaume Morel; Luc Soler; Jacques Marescaux (MICCAI, 2001)

Autonomous Retrieval and Positioning of Surgical Instruments in Robotized Laparoscopic Surgery using Visual Servoing and Laser Pointers. - Alexandre Krupa; Jacques Gangloff; Michel de Mathelin; Christophe Doignon; Guillaume Morel; Luc Soler; Joël Leroy; Jacques Marescaux (ICRA, 2002)

Combined image-based and depth visual servoing applied to robotized laparoscopic surgery. - Alexandre Krupa; Christophe Doignon; Jacques Gangloff; Michel de Mathelin (IROS, 2002)

Towards Semi-autonomy in Laparoscopic Surgery: First Live Experiments. - Alexandre Krupa; Christophe Doignon; Jacques Gangloff; Michel de Mathelin; Guillaume Morel; Luc Soler; Joël Leroy; Moji Ghodoussi (ISER, 2002)

Automatic 3-D Positioning of Surgical Instruments during Robotized Laparoscopic Surgery Using Automatic Visual Feedback. - Alexandre Krupa; Michel de Mathelin; Christophe Doignon; Jacques Gangloff; Guillaume Morel; Luc Soler; Joël Leroy; Jacques Marescaux (MICCAI (1), 2002)

Modeling and vision-based control of a micro catheter head for teleoperated in-pipe inspection. - Saliha Boudjabi; Antoine Ferreira; Alexandre Krupa (ICRA, 2003)

Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing. - Alexandre Krupa; Jacques Gangloff; Christophe Doignon; Michel de Mathelin; Guillaume Morel; Joël Leroy; Luc Soler; Jacques Marescaux (IEEE Trans. Robotics Autom., 2003)

Achieving high-precision laparoscopic manipulation through adaptive force control. - Alexandre Krupa; Guillaume Morel; Michel de Mathelin (Adv. Robotics, 2004)

Control of an ultrasound probe by adaptive visual servoing. - Alexandre Krupa; François Chaumette (IROS, 2005)

Towards Ultrasound Image-based Visual Servoing. - Wael Bachta; Alexandre Krupa (ICRA, 2006)

Automatic Calibration of a Robotized 3D Ultrasound Imaging System by Visual Servoing. - Alexandre Krupa (ICRA, 2006)

Guidance of an ultrasound probe by visual servoing. - Alexandre Krupa; François Chaumette (Adv. Robotics, 2006)

Full Motion Tracking in Ultrasound Using Image Speckle Information and Visual Servoing. - Alexandre Krupa; Gabor Fichtinger; Gregory D. Hager (ICRA, 2007)

Real-Time Tissue Tracking with B-Mode Ultrasound Using Speckle and Visual Servoing. - Alexandre Krupa; Gabor Fichtinger; Gregory D. Hager (MICCAI (2), 2007)

Image moments-based ultrasound visual servoing. - Rafik Mebarki; Alexandre Krupa; François Chaumette (ICRA, 2008)

Automatic Guidance of an Ultrasound Probe by Visual Servoing Based on B-Mode Image Moments. - Rafik Mebarki; Alexandre Krupa; Christophe Collewet (MICCAI (2), 2008)

Modeling and 3D local estimation for in-plane and out-of-plane motion guidance by 2D ultrasound-based visual servoing. - Rafik Mebarki; Alexandre Krupa; François Chaumette (ICRA, 2009)

Real-time Motion Stabilization with B-mode Ultrasound Using Image Speckle Information and Visual Servoing. - Alexandre Krupa; Gabor Fichtinger; Gregory D. Hager (Int. J. Robotics Res., 2009)

A multi-plane approach for ultrasound visual servoing: Application to a registration task. - Caroline Nadeau; Alexandre Krupa (IROS, 2010)

2-D Ultrasound Probe Complete Guidance by Visual Servoing Using Image Moments. - Rafik Mebarki; Alexandre Krupa; François Chaumette (IEEE Trans. Robotics, 2010)

A robust parametric active contour based on fourier descriptors. - Tao Li 044; Alexandre Krupa; Christophe Collewet (ICIP, 2011)

Intensity-based direct visual servoing of an ultrasound probe. - Caroline Nadeau; Alexandre Krupa (ICRA, 2011)

Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound. - Deukhee Lee; Alexandre Krupa (IROS, 2011)

Improving ultrasound intensity-based visual servoing: Tracking and positioning tasks with 2D and bi-plane probes. - Caroline Nadeau; Alexandre Krupa (IROS, 2011)

Automatic Tracking of an Organ Section with an Ultrasound Probe: Compensation of Respiratory Motion. - Caroline Nadeau; Alexandre Krupa; Jacques Gangloff (MICCAI (1), 2011)

Contributions à l'asservissement visuel échographique. (Contributions to ultrasound visual servoing). - Alexandre Krupa (2012)

Maintaining visibility constraints during tele-echography with ultrasound visual servoing. - Tao Li 044; Olivier Kermorgant; Alexandre Krupa (ICRA, 2012)

Real-time needle detection and tracking using a visually servoed 3D ultrasound probe. - Pierre Chatelain; Alexandre Krupa; Maud Marchal (ICRA, 2013)

Intensity-Based Ultrasound Visual Servoing: Modeling and Validation With 2-D and 3-D Probes. - Caroline Nadeau; Alexandre Krupa (IEEE Trans. Robotics, 2013)

A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks. - Alexandre Krupa (BioRob, 2014)

Vision-based assistance for wheelchair navigation along corridors. - François Pasteau; Alexandre Krupa; Marie Babel (ICRA, 2014)

3D Steering of a Flexible Needle by Visual Servoing. - Alexandre Krupa (MICCAI (1), 2014)

Non-rigid target tracking in 2D ultrasound images using hierarchical grid interpolation. - Lucas Royer; Marie Babel; Alexandre Krupa (Image Processing, 2014)

3D ultrasound-guided robotic steering of a flexible needle via visual servoing. - Pierre Chatelain; Alexandre Krupa; Nassir Navab (ICRA, 2015)

Optimization of ultrasound image quality via visual servoing. - Pierre Chatelain; Alexandre Krupa; Nassir Navab (ICRA, 2015)

Real-time tracking of deformable target in 3D ultrasound images. - Lucas Royer; Maud Marchal; Anthony Le Bras; Guillaume Dardenne; Alexandre Krupa (ICRA, 2015)

Tracking of deformable target in 2D ultrasound images. - Lucas Royer; Maud Marchal; Anthony Le Bras; Guillaume Dardenne; Alexandre Krupa (Image Processing, 2015)

Intensity-Based Visual Servoing for Instrument and Tissue Tracking in 3D Ultrasound Volumes. - Caroline Nadeau; Hongliang Ren 001; Alexandre Krupa; Pierre E. Dupont (IEEE Trans Autom. Sci. Eng., 2015)

Shearlet transform: A good candidate for compressed sensing in optical coherence tomography. - Lesley-Ann Duflot; Alexandre Krupa; Brahim Tamadazte; Nicolas Andreff (EMBC, 2016)

Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization. - Pierre Chatelain; Alexandre Krupa; Nassir Navab (ICRA, 2016)

Needle steering fusing direct base manipulation and tip-based control. - Jason Chevrie; Alexandre Krupa; Marie Babel (ICRA, 2016)

Towards Ultrasound-based visual servoing using shearlet coefficients. - Lesley-Ann Duflot; Alexandre Krupa; Brahim Tamadazte; Nicolas Andreff (ICRA, 2016)

Online prediction of needle shape deformation in moving soft tissues from visual feedback. - Jason Chevrie; Alexandre Krupa; Marie Babel (IROS, 2016)

Shearlet-based vs. photometric-based visual servoing for robot-assisted medical applications. - Lesley-Ann Duflot; Alexandre Krupa; Brahim Tamadazte; Nicolas Andreff (IROS, 2016)

Automatic palpation for quantitative ultrasound elastography by visual servoing and force control. - Pedro A. Patlan-Rosales; Alexandre Krupa (IROS, 2016)

Vision-based adaptive assistance and haptic guidance for safe wheelchair corridor following. - Vishnu K. Narayanan; François Pasteau; Maud Marchal; Alexandre Krupa; Marie Babel (Comput. Vis. Image Underst., 2016)

Robotized Tele-Echography: An Assisting Visibility Tool to Support Expert Diagnostic. - Alexandre Krupa; David Folio; Cyril Novales; Pierre Vieyres; Tao Li 044 (IEEE Syst. J., 2016)

Moments-Based Ultrasound Visual Servoing: From a Mono- to Multiplane Approach. - Caroline Nadeau; Alexandre Krupa; Jan Petr; Christian Barillot (IEEE Trans. Robotics, 2016)

A robotic control framework for 3-D quantitative ultrasound elastography. - Pedro A. Patlan-Rosales; Alexandre Krupa (ICRA, 2017)

Strain estimation of moving tissue based on automatic motion compensation by ultrasound visual servoing. - Pedro A. Patlan-Rosales; Alexandre Krupa (IROS, 2017)

Real-time target tracking of soft tissues in 3D ultrasound images based on robust visual information and mechanical simulation. - Lucas Royer; Alexandre Krupa; Guillaume Dardenne; Anthony Le Bras; Éric Marchand; Maud Marchal (Medical Image Anal., 2017)

Confidence-Driven Control of an Ultrasound Probe. - Pierre Chatelain; Alexandre Krupa; Nassir Navab (IEEE Trans. Robotics, 2017)

Wavelet-Based Visual Servoing Using OCT Images. - Lesley-Ann Duflot; Brahim Tamadazte; Nicolas Andreff; Alexandre Krupa (BioRob, 2018)

Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback. - Jason Chevrie; Navid Shahriari; Marie Babel; Alexandre Krupa; Sarthak Misra (IEEE Robotics Autom. Lett., 2018)

RGB-D Tracking of Complex Shapes Using Coarse Object Models. - Agniva Sengupta; Alexandre Krupa; Éric Marchand (ICIP, 2019)

Real-time Teleoperation of Flexible Beveled-tip Needle Insertion using Haptic Force Feedback and 3D Ultrasound Guidance. - Jason Chevrie; Alexandre Krupa; Marie Babel (ICRA, 2019)

Design of haptic guides for pre-positioning assistance of a comanipulated needle. - Hadrien Gurnel; Maud Marchal; Laurent Launay; Luc Beuzit; Alexandre Krupa (SMC, 2019)

Tracking of Non-Rigid Objects using RGB-D Camera. - Agniva Sengupta; Alexandre Krupa; Éric Marchand (SMC, 2019)

Wavelet and shearlet-based image representations for visual servoing. - Lesley-Ann Duflot; Rafael Reisenhofer; Brahim Tamadazte; Nicolas Andreff; Alexandre Krupa (Int. J. Robotics Res., 2019)

Robotic assistance for ultrasound elastography providing autonomous palpation with teleoperation and haptic feedback capabilities. - Pedro A. Patlan-Rosales; Alexandre Krupa (BioRob, 2020)

Active Deformation through Visual Servoing of Soft Objects. - Romain Lagneau; Alexandre Krupa; Maud Marchal (ICRA, 2020)

Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects. - Agniva Sengupta; Romain Lagneau; Alexandre Krupa; Éric Marchand; Maud Marchal (ICRA, 2020)

Automatic Shape Control of Deformable Wires Based on Model-Free Visual Servoing. - Romain Lagneau; Alexandre Krupa; Maud Marchal (IEEE Robotics Autom. Lett., 2020)

Visual Tracking of Deforming Objects Using Physics-based Models. - Agniva Sengupta; Alexandre Krupa; Éric Marchand (ICRA, 2021)

Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback. - Marco Aggravi; Daniel A. L. Estima; Alexandre Krupa; Sarthak Misra; Claudio Pacchierotti (IEEE Robotics Autom. Lett., 2021)

Indirect Positioning of a 3D Point on a Soft Object Using RGB-D Visual Servoing and a Mass-Spring Model. - Fouad Makiyeh; Maud Marchal; François Chaumette; Alexandre Krupa (ICARCV, 2022)

Shape visual servoing of a tether cable from parabolic features. - Lev Smolentsev; Alexandre Krupa; François Chaumette (ICRA, 2023)

Shape Servoing of a Soft Object Using Fourier Series and a Physics-Based Model. - Fouad Makiyeh; François Chaumette; Maud Marchal; Alexandre Krupa (IROS, 2023)

Deformation Control of a 3D Soft Object Using RGB-D Visual Servoing and FEM-Based Dynamic Model. - Mandela Ouafo Fonkoua; François Chaumette; Alexandre Krupa (IEEE Robotics Autom. Lett., 2024)

Shape Visual Servoing of a Cable Suspended Between Two Drones. - Lev Smolentsev; Alexandre Krupa; François Chaumette (IEEE Robotics Autom. Lett., 2024)

Multi-robot Aerial Soft Manipulator For Floating Litter Collection. - Antonio González-Morgado; Sander Smits; Guillermo Heredia; Aníbal Ollero; Alexandre Krupa; François Chaumette; Fabien Spindler; Antonio Franchi; Chiara Gabellieri (CoRR, 2025)