Narcís Sayols Alessio Sozzi, Nicola Piccinelli Albert Hernansanz Alicia Casals Marcello Bonfè ; Riccardo Muradore, 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
2020
title = {Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for autonomous surgical robots},
author = {Narcís Sayols, Alessio Sozzi, Nicola Piccinelli, Albert Hernansanz, Alicia Casals, Marcello Bonfè, and Riccardo Muradore,},
editor = {IEEE},
doi = {10.1109/ICRA40945.2020.9197525},
year = {2020},
date = {2020-09-15},
booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
abstract = {This paper addresses the generation of collision-free trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the final target and the presence of moving obstacles. The developed motion planner is structured as a two-layer architecture: a global level computes smooth spline-based trajectories that are continuously updated using virtual potential fields; a local level, exploiting Dynamical Systems based obstacle avoidance, ensures collision free connections among the spline control points. The proposed architecture is validated in a realistic surgical scenario.},
keywords = {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},
pubstate = {published},
tppubtype = {conference}
}
title = {Technical and Functional Validation of a Teleoperated Multirobots Platform for Minimally Invasive Surgery},
author = {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 and Riccardo Muradore},
editor = {IEEE},
doi = {10.1109/TMRB.2020.2990286},
issn = {2576-3202},
year = {2020},
date = {2020-05-18},
journal = {IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS},
volume = {2},
number = {2},
pages = {148-156},
abstract = {Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons’ dexterity and skills. The research on new Multi-Robots Surgery (MRS) platform is cardinal to the development of a new SARAS surgical robotic platform, which aims at carrying out autonomously the assistants tasks during R-MIS procedures. In this work, we will present the SARAS MRS platform validation protocol, framed in order to assess: (i) its technical performances in purely dexterity exercises, and (ii) its functional performances. The results obtained show a prototype able to put the users in the condition of accomplishing the tasks requested (both dexterity- and surgical-related), even with reasonably lower performances respect to the industrial standard. The main aspects on which further improvements are needed result to be the stability of the end effectors, the depth perception and the vision systems, to be enriched with dedicated virtual fixtures. The SARAS’ aim is to reduce the main surgeon’s workload through the automation of assistive tasks which would benefit both surgeons and patients by facilitating the surgery and reducing the operation time.},
keywords = {functional evaluation, Instruments, Manipulators, Protocols, Robot kinematics, robotic end effector task metrics, Surgery, surgical-related tasks, tele-operated surgical robotic system, Tools, Validation protocol},
pubstate = {published},
tppubtype = {article}
}
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020. 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.
2020