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 Marco Minelli Alessio Sozzi, Giacomo De Rossi Federica Ferraguti Francesco Setti Riccardo Muradore Marcello Bonfè Cristian Secchi 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. Abstract | Links | BibTeX | Tags: Collision avoidance, Minimally invasive surgery, Planning, Predictive models, Robot kinematics, Robots, Tools
2020
title = {Improving Rigid 3-D Calibration for Robotic Surgery},
author = {Andrea Roberti , Nicola Piccinelli , Daniele Meli, Riccardo Muradore , and Paolo Fiorini ,},
editor = {IEEE },
doi = {10.1109/TMRB.2020.3033670},
isbn = {2576-3202},
year = {2020},
date = {2020-11-04},
journal = {IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS},
volume = {2},
number = {4},
pages = {569-573},
abstract = {Autonomy is the next frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In this article, we propose a novel calibration technique for a surgical scenario with a da Vinci ® Research Kit (dVRK) robot. Camera and robotic arms calibration are necessary to precise position and emulate expert surgeon. The novel calibration technique is tailored for RGB-D cameras. Different tests performed on relevant use cases prove that we significantly improve precision and accuracy with respect to state of the art solutions for similar devices on a surgical-size setups. Moreover, our calibration method can be easily extended to standard surgical endoscope used in real surgical scenario.},
keywords = {Calibration, Medical robotics, Minimally invasive surgery, multi arm calibration, Robot, Robot vision systems, Surgery, Surgical robotics, Three-dimensional displays},
pubstate = {published},
tppubtype = {article}
}
title = {Integrating Model Predictive Control and Dynamic Waypoints Generation for Motion Planning in Surgical Scenario},
author = {Marco Minelli, Alessio Sozzi, Giacomo De Rossi, Federica Ferraguti, Francesco Setti, Riccardo Muradore, Marcello Bonfè, Cristian Secchi},
editor = {IEEE },
doi = {10.1109/IROS45743.2020.9341673},
year = {2020},
date = {2020-10-24},
booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
abstract = {In this paper we present a novel strategy for motion planning of autonomous robotic arms in Robotic Minimally Invasive Surgery (R-MIS). We consider a scenario where several laparoscopic tools must move and coordinate in a shared environment. The motion planner is based on a Model Predictive Controller (MPC) that predicts the future behavior of the robots and allows to move them avoiding collisions between the tools and satisfying the velocity limitations. In order to avoid the local minima that could affect the MPC, we propose a strategy for driving it through a sequence of waypoints. The proposed control strategy is validated on a realistic surgical scenario.},
keywords = {Collision avoidance, Minimally invasive surgery, Planning, Predictive models, Robot kinematics, Robots, Tools},
pubstate = {published},
tppubtype = {conference}
}
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. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
2020