@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}
}

@article{Sozzi2019,
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}
}