@article{Roberti2020,
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}
}

@article{Sayols2019,
title = {Vision Based Robot Assistance in TTTS Fetal Surgery},
author = {Narcís Sayols and Albert Hernansanz and Johanna Parra and Elisenda Eixarch and Eduard Gratacós and Josep Amat and Alícia Casals},
editor = {IEEE
},
doi = {10.1109/EMBC.2019.8856402},
year = {2019},
date = {2019-10-07},
journal = {2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)},
abstract = {This paper presents an accurate and robust tracking vision algorithm for Fetoscopic Laser Photo-coagulation (FLP) surgery for Twin-Twin Transfusion Syndrome (TTTS). The aim of the proposed method is to assist surgeons during anastomosis localization, coagulation and review using a tele-operated robotic system. The algorithm computes the relative position of the fetoscope tool tip with respect to the placenta, via local vascular structure registration. The algorithm uses image features (local superficial vascular structures of the placenta's surface) to automatically match consecutive fetoscopic images. It is composed of three sequential steps: image processing (filtering, binarization and vascular structures segmentation); relevant Points Of Interest (POIs) seletion; and image registration between consecutive images. The algorithm has to deal with the low quality of fetoscopic images, the liquid and dirty environment inside the placenta jointly with the thin diameter of the fetoscope optics and low amount of environment light reduces the image quality. The obtained images are blurred, noisy and with very poor color components. The tracking system has been tested using real video sequences of FLP surgery for TTTS. The computational performance enables real time tracking, locally guiding the robot over the placenta's surface with enough accuracy.},
keywords = {Coagulation, Image processing, Laser, Robot, Surgery, Three-dimensional displays, Visualization},
pubstate = {published},
tppubtype = {article}
}