2020

Andrea Roberti Nicola Piccinelli, Daniele Meli Riccardo Muradore ; Paolo Fiorini,

Improving Rigid 3-D Calibration for Robotic Surgery Journal Article

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS, 2 (4), pp. 569-573, 2020, ISBN: 2576-3202.

Abstract | Links | BibTeX | Tags: Calibration, Medical robotics, Minimally invasive surgery, multi arm calibration, Robot, Robot vision systems, Surgery, Surgical robotics, Three-dimensional displays

Narcís Sayols Alessio Sozzi, Nicola Piccinelli Albert Hernansanz Alicia Casals Marcello Bonfè ; Riccardo Muradore,

Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for autonomous surgical robots Conference

2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.

Abstract | Links | BibTeX | Tags: assistive tasks, autonomous execution, autonomous surgical, Collision avoidance, collision free connections, collision-free trajectories, desired task, developed motion planner, dynamical systems based obstacle avoidance, final target, geometric constraints, global level computes smooth spline-based trajectories, Medical robotics, mobile robots, motion control, moving obstacles, realistic surgical scenario, Robots, splines (mathematics), Surgery, surgery INSPEC: Non-Controlled Indexing robotic minimally invasive surgery, Task analysis, Tools, Trajectory, two-layer architecture

Alice Leporini Elettra Oleari, Carmela Landolfo Alberto Sanna Alessandro Larcher Giorgio Gandaglia Nicola Fossati Fabio Muttin Umberto Capitanio Francesco Montorsi Andrea Salonia Marco Minelli Federica Ferraguti Cristian Secchi Saverio Farsoni Alessio Sozzi Marcello Bonf`e Narcis Sayols Albert Hernansanz Alicia Casals Sabine Hertle Fabio Cuzzolin Andrew Dennison Andreas Melzer Gernot Kronreif Salvatore Siracusano Fabio Falezza Francesco Setti ; Muradore, Riccardo

Technical and Functional Validation of a Teleoperated Multirobots Platform for Minimally Invasive Surgery Journal Article

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS, 2 (2), pp. 148-156, 2020, ISSN: 2576-3202.

Abstract | Links | BibTeX | Tags: functional evaluation, Instruments, Manipulators, Protocols, Robot kinematics, robotic end effector task metrics, Surgery, surgical-related tasks, tele-operated surgical robotic system, Tools, Validation protocol

Giacomo De Rossi Marco Minelli, Alessio Sozzi Nicola Piccinelli Federica Ferraguti Francesco Setti Marcello Bonfé Christian Secchi Riccardo Muradore

Cognitive Robotic Architecture for Semi-Autonomous Execution of Manipulation Tasks in a Surgical Environment Conference

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2020, ISBN: 978-1-7281-4004-9.

Abstract | Links | BibTeX | Tags: Artificial Intelligence, Collision avoidance, Manipulators, Medical robotics, mobile robots, predictive control, Robot, Robot vision, Surgery, trajectory control, uncertain systems

2019

Casals, Alicia; Hernansanz, Albert; Sayols, Narcís; Amat, Josep

Assistance Strategies for Robotized Laparoscopy Conference

Robot 2019: Fourth Iberian Robotics Conference, 2019, ISBN: 978-3-030-36149-5.

Abstract | Links | BibTeX | Tags: Cooperative robotics, Laparoscopy, Robot, Safety, Surgery, Surgical robots, Virtual feedback

Sayols, Narcís; Hernansanz, Albert; Parra, Johanna; Eixarch, Elisenda; Gratacós, Eduard; Amat, Josep; Casals, Alícia

Vision Based Robot Assistance in TTTS Fetal Surgery Journal Article

2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019.

Abstract | Links | BibTeX | Tags: Coagulation, Image processing, Laser, Robot, Surgery, Three-dimensional displays, Visualization

Sozzi, Alessio; Bonfè, Marcello; Farsoni, Saverio; DeRossi, Giacomo; Muradore, Riccardo

Dynamic Motion Planning for Autonomous Assistive Surgical Robots Journal Article

Electronics 2019, 8 (9) , pp. 957, 2019.

Abstract | Links | BibTeX | Tags: Dynamical systems, Motion planning, Obstacle avoidance, Robot, Robot, Surgical robots

Sartori, Enrico; Tadiello, Carlo; Secchi, Cristian; Muradore, Riccardo

Tele-Echography Using a Two-Layer Teleoperation Algorithm with Energy Scaling Conference

2019, (2019 International Conference on Robotics and Automation (ICRA) Palais des congres de Montreal, Montreal, Canada, May 20-24, 2019).

Abstract | Links | BibTeX | Tags: Energy Scaling, Tele-Echography, Teleoperation, Two-Layer Algorithm

Minelli, Marco; Ferraguti, Federica; Piccinelli, Nicola; Muradore, Riccardo; Secchi, Cristian

Energy-Shared Two-Layer (Approach for Multi-Master-Multi-Slave) Bilateral Teleoperation Systems Conference

2019.

Abstract | Links | BibTeX | Tags: Control architecture, Control programming, Laparoscopy, Robot, Surgical robots, Teleoperation, Telerobotics

Setti, Francesco; Oleari, Elettra; Leporini, Alice; Trojaniello, Diana; Sanna, Alberto; Capitanio, Umberto; Montorsi, Francesco; Salonia, Andrea; Muradore, Riccardo

A Multirobots Teleoperated Platform for Artificial Intelligence Training Data Collection in Minimally Invasive Surgery Conference

2019, ISBN: 978-1-5386-7825-1.

Abstract | Links | BibTeX | Tags: Artificial Intelligence, Cognitive control, Computer Science, Laparoscopy, Laparoscopy, machine learning, Robot, Robotic surgery, Surgery, Teleoperation

Oleari, Elettra; Leporini, Alice; Trojaniello, Diana; Sanna, Alberto; Capitanio, Umberto; Deho, Federico; Larcher, Alessandro; Montorsi, Francesco; Salonia, Andrea; Setti, Francesco; Muradore, Riccardo

Enhancing Surgical Process Modeling for Artificial Intelligence Development in Robotics the SARAS Case Study for Minimally Invasive Procedures Journal Article

pp. 1-6, 2019, ISBN: 978-1-7281-2342-4.

Abstract | Links | BibTeX | Tags: Artificial Intelligence, Autonomy, Cognitive control, Cognitive functions, Decision making, Laparoscopes, Laparoscopy, Laparoscopy, learning systems, machine learning, Medical robotics, multirobots teleoperated platform, Robotic surgery, Surgery, Surgical robots, Teleoperation

Hernansanz, Albert; Martínez, ; Rovira, ; Casals, Alicia

A physical/virtual platform for hysteroscopy training Conference

Proceedings of the 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, 2019.

Abstract | Links | BibTeX | Tags: Computer Science, Endoscopy, Laparoscopy, Laparoscopy, Robot, Robotic surgery, Robotic Surgery, Surgery, Surgical robots, Training

Hernansanz, Albert; Pieras, ; Ferrandiz, ; Moreno, ; Casals, Alicia

Sentisim: a hybrid training platform for sinb in local melanoma staging Conference

CRAS 2019, 2019.

Abstract | Links | BibTeX | Tags: Anatomical trainer, Biopsy, Melanoma, Simulator, Surgery, Surgical trainer

2018

Roberti, Andrea; Muradore, Riccardo; Fiorini, Paolo; Cristani, Marco; Setti, Francesco

An energy saving approach to active object recognition and localization Conference

Annual Conference of the IEEE Industrial Electronics Society (IECON).Washington, DC, USA. 2018.

Abstract | Links | BibTeX | Tags: Active object recognition, Artificial Intelligence, Computer Science, Learning, Object recognition, Pattern Recognition, POMDP, Robotics

Roberti, Andrea; Carletti, Marco; Setti, Francesco; Castellani, Umberto; Fiorini, Paolo; Cristani, Marco

Recognition self-awareness for active object recognition on depth images Conference

BMVC 2018 2018.

Abstract | Links | BibTeX | Tags: 3D object classifier, Artificial Intelligence, Computer Science, Object exploration, Object recognition, POMDP

Singh, Gurkirt; Saha, Suman; Cuzzolin, Fabio

Predicting action tubes Journal Article

2018, (Proceedings of the ECCV 2018 Workshop on Anticipating Human Behaviour (AHB 2018), Munich, Germany, Sep 2018).

Abstract | Links | BibTeX | Tags: Artificial Intelligence, Computer Science, Computer vision, Object recognition, Pattern Recognition, Robot, Robotics

Arturo, Marbán; Srinivasan, Vignesh; Samek, Wojciech; Fernández, Josep; Casals, Alicia

Estimation of interaction forces in robotic surgery using a semi-supervised deep neural network model Conference

2018.

Abstract | Links | BibTeX | Tags: Learning, Robot, Robotic surgery, Robotics, Surgery, Training

Singh, Gurkirt; Saha, Suman; Cuzzolin, Fabio

TraMNet - Transition Matrix Network for Efficient Action Tube Proposals Proceeding

2018.

Abstract | Links | BibTeX | Tags: Computer Science, Computer vision, Electrical Engineering, Image processing, Pattern Recognition, Robot, Robotics, Systems Science, Visual processing

Behl, Harkirat Singh; Sapienza, Michael; Singh, Gurkirt; Saha, Suman; Cuzzolin, Fabio; Torr, Philip H S

Incremental Tube Construction for Human Action Detection Proceeding

2018.

Abstract | Links | BibTeX | Tags: Action detection, Artificial Intelligence, Computer Science, Computer vision, Detection, Pattern Recognition, Robot