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2020

Narcís Sayols Alessio Sozzi, Nicola Piccinelli Albert Hernansanz Alicia Casals Marcello Bonfè ; Riccardo Muradore,

Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for autonomous surgical robots Conference

2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.

Abstract | Links | BibTeX | Tags: assistive tasks, autonomous execution, autonomous surgical, Collision avoidance, collision free connections, collision-free trajectories, desired task, developed motion planner, dynamical systems based obstacle avoidance, final target, geometric constraints, global level computes smooth spline-based trajectories, Medical robotics, mobile robots, motion control, moving obstacles, realistic surgical scenario, Robots, splines (mathematics), Surgery, surgery INSPEC: Non-Controlled Indexing robotic minimally invasive surgery, Task analysis, Tools, Trajectory, two-layer architecture

Alice Leporini Elettra Oleari, Carmela Landolfo Alberto Sanna Alessandro Larcher Giorgio Gandaglia Nicola Fossati Fabio Muttin Umberto Capitanio Francesco Montorsi Andrea Salonia Marco Minelli Federica Ferraguti Cristian Secchi Saverio Farsoni Alessio Sozzi Marcello Bonf`e Narcis Sayols Albert Hernansanz Alicia Casals Sabine Hertle Fabio Cuzzolin Andrew Dennison Andreas Melzer Gernot Kronreif Salvatore Siracusano Fabio Falezza Francesco Setti ; Muradore, Riccardo

Technical and Functional Validation of a Teleoperated Multirobots Platform for Minimally Invasive Surgery Journal Article

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS, 2 (2), pp. 148-156, 2020, ISSN: 2576-3202.

Abstract | Links | BibTeX | Tags: functional evaluation, Instruments, Manipulators, Protocols, Robot kinematics, robotic end effector task metrics, Surgery, surgical-related tasks, tele-operated surgical robotic system, Tools, Validation protocol