@conference{Hernansanz2019,
title = {A physical/virtual platform for hysteroscopy training},
author = {Albert Hernansanz and Martínez and Rovira and Alicia Casals},
editor = {CRAS 2019},
doi = {10.5281/zenodo.3373297},
year = {2019},
date = {2019-03-21},
booktitle = {Proceedings of the 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery},
abstract = {This work presents HysTrainer (HT), a training module for hysteroscopy, which is part of the generic endoscopic training platform EndoTrainer (ET). This platform merges both technologies, with the benefits of having a physical anatomic model and computer assistance for augmented reality and objective assessment. Further to the functions of a surgical trainer, EndoTrainer provides an integral education, training and evaluation platform.},
keywords = {Computer Science, Endoscopy, Laparoscopy, Laparoscopy, Robot, Robotic surgery, Robotic Surgery, Surgery, Surgical robots, Training},
pubstate = {published},
tppubtype = {conference}
}

@conference{González2018,
title = {Estimation of interaction forces in robotic surgery using a semi-supervised deep neural network model},
author = {Marbán Arturo and Vignesh Srinivasan and Wojciech Samek and Josep Fernández and Alicia Casals},
editor = {IEEE},
url = {https://upcommons.upc.edu/bitstream/handle/2117/132610/iros2018_paper_26_07_2018.pdf?sequence=3&isAllowed=y},
doi = {10.1109/IROS.2018.8593701},
year = {2018},
date = {2018-08-09},
abstract = {Providing force feedback as a feature in current Robot-Assisted Minimally Invasive Surgery systems still remains a challenge. In recent years, Vision-Based Force Sensing (VBFS) has emerged as a promising approach to address this problem. Existing methods have been developed in a Supervised Learning (SL) setting. Nonetheless, most of the video sequences related to robotic surgery are not provided with ground-truth force data, which can be easily acquired in a controlled environment. A powerful approach to process unlabeled video sequences and find a compact representation for each video frame relies on using an Unsupervised Learning (UL) method. Afterward, a model trained in an SL setting can take advantage of the available ground-truth force data. In the present work, UL and SL techniques are used to investigate a model in a Semi-Supervised Learning (SSL) framework, consisting of an encoder network and a Long-Short Term Memory (LSTM) network. First, a Convolutional Auto-Encoder (CAE) is trained to learn a compact representation for each RGB frame in a video sequence. To facilitate the reconstruction of high and low frequencies found in images, this CAE is optimized using an adversarial framework and a L1-loss, respectively. Thereafter, the encoder network of the CAE is serially connected with an LSTM network and trained jointly to minimize the difference between ground-truth and estimated force data. Datasets addressing the force estimation task are scarce. Therefore, the experiments have been validated in a custom dataset. The results suggest that the proposed approach is promising.},
keywords = {Learning, Robot, Robotic surgery, Robotics, Surgery, Training},
pubstate = {published},
tppubtype = {conference}
}