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 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 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
2019
title = {Assistance Strategies for Robotized Laparoscopy},
author = {Alicia Casals and Albert Hernansanz and Narcís Sayols and Josep Amat},
editor = {Springer
},
url = {https://link.springer.com/chapter/10.1007%2F978-3-030-36150-1_40},
doi = {10.1007/978-3-030-36150-1_40},
isbn = {978-3-030-36149-5},
year = {2019},
date = {2019-11-20},
booktitle = {Robot 2019: Fourth Iberian Robotics Conference},
pages = {485-496},
abstract = {Robotizing laparoscopic surgery not only allows achieving better accuracy to operate when a scale factor is applied between master and slave or thanks to the use of tools with 3 DoF, which cannot be used in conventional manual surgery, but also due to additional informatic support. Relying on computer assistance different strategies that facilitate the task of the surgeon can be incorporated, either in the form of autonomous navigation or cooperative guidance, providing sensory or visual feedback, or introducing certain limitations of movements. This paper describes different ways of assistance aimed at improving the work capacity of the surgeon and achieving more safety for the patient, and the results obtained with the prototype developed at UPC.},
keywords = {Cooperative robotics, Laparoscopy, Robot, Safety, Surgery, Surgical robots, Virtual feedback},
pubstate = {published},
tppubtype = {conference}
}
title = {Dynamic Motion Planning for Autonomous Assistive Surgical Robots},
author = {Alessio Sozzi and Marcello Bonfè and Saverio Farsoni and Giacomo DeRossi and Riccardo Muradore},
doi = {10.3390/electronics8090957},
year = {2019},
date = {2019-07-26},
journal = {Electronics 2019},
volume = {8 (9)},
pages = {957},
abstract = {The paper addresses the problem of the generation of collision-free trajectories for a robotic manipulator, operating in a scenario in which obstacles may be moving at non-negligible velocities. In particular, the paper aims to present a trajectory generation solution that is fully executable in real-time and that can reactively adapt to both dynamic changes of the environment and fast reconfiguration of the robotic task. The proposed motion planner extends the method based on a dynamical system to cope with the peculiar kinematics of surgical robots for laparoscopic operations, the mechanical constraint being enforced by the fixed point of insertion into the abdomen of the patient the most challenging aspect. The paper includes a validation of the trajectory generator in both simulated and experimental scenarios.},
keywords = {Dynamical systems, Motion planning, Obstacle avoidance, Robot, Robot, Surgical robots},
pubstate = {published},
tppubtype = {article}
}
title = {Energy-Shared Two-Layer (Approach for Multi-Master-Multi-Slave) Bilateral Teleoperation Systems},
author = {Marco Minelli and Federica Ferraguti and Nicola Piccinelli and Riccardo Muradore and Cristian Secchi},
url = {https://nxgsur-icra2019.sciencesconf.org/272549/document},
doi = {10.5281/zenodo.3362947 },
year = {2019},
date = {2019-05-20},
abstract = {In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conservativeness due to passivity preservation and to increment the level of transparency that can be achieved. The proposed approach is implemented on a realistic surgical scenario developed within the EU-funded SARAS project.
},
keywords = {Control architecture, Control programming, Laparoscopy, Robot, Surgical robots, Teleoperation, Telerobotics},
pubstate = {published},
tppubtype = {conference}
}
Assistance Strategies for Robotized Laparoscopy Conference Robot 2019: Fourth Iberian Robotics Conference, 2019, ISBN: 978-3-030-36149-5. Dynamic Motion Planning for Autonomous Assistive Surgical Robots Journal Article Electronics 2019, 8 (9) , pp. 957, 2019. Energy-Shared Two-Layer (Approach for Multi-Master-Multi-Slave) Bilateral Teleoperation Systems Conference 2019.
2019