Ara es mostren els items 37-56 de 81

    • Human machine interfaces for robot-assisted colonoscopy: a clinical survey 

      Finocchiaro, Martina; Arezzo, Alberto; Menciassi, Arianna; Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Ciuti, Gastone (EasyChair Publications, 2022)
      Comunicació de congrés
      Accés obert
      In the last decade, a variety of Human Machine Interfaces (HMI) have been designed for robot assisted colonoscopy, including different input devices, assistive tools and feedback. However, few studies aiming at assessing ...
    • IK-FA, a new heuristic inverse kinematics solver using firefly algorithm 

      Rokbani, Nizar; Casals Gelpí, Alicia; Alimi, Adel M. (Springer, 2015-11-27)
      Capítol de llibre
      Accés obert
      In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of ...
    • Improving the development of surgical skills with virtual fixtures in simulation 

      Hernansanz Prats, Alberto; Zerbato, Davide; Gasperotti, Lorenza; Scandola, Michele; Fiorini, Paolo; Casals Gelpí, Alicia (Springer, 2012)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This paper focuses on the use of virtual fixtures to improve the learning of basic skills for laparoscopic surgery. Five virtual fixtures are defined, integrated into a virtual surgical simulator and used to define an experimental ...
    • Improving the performance of input interfaces through scaling and human motor models 

      Muñoz Morgado, Luis Miguel; Casals Gelpí, Alicia (2016)
      Article
      Accés obert
      The performance of interfaces is affected by human factors, which vary from one person to another, and by the inherent characteristics of the various devices involved. A set of techniques has been studied in order to ...
    • Intuitive graphic interface for assisted teleoperation in surgical applications 

      Casals Gelpí, Alicia; Campos Querol, Jordi; Giralt Ludevid, Xavier; Amat Girbau, Josep (2010)
      Comunicació de congrés
      Accés obert
      Human-Machine interfaces constitute a key factor to guarantee the effective use of technological equipment. In the field of image guided surgery and surgical robots, the availability of an adequate interaction means ...
    • Jornadas nacionales de Robótica y Bioingeniería 

      Casals Gelpí, Alicia; Minguella Canela, Joaquim; Muñoz Morgado, Luis Miguel (Universidad Politécnica de Madrid (UPM), 2023)
      Text en actes de congrés
      Accés obert
      Existen diferentes enfoques para incorporar funcionalidades a sillas de ruedas, convirtiéndolas en plataformas no solo para proporcionar movilidad sino también postura y actuación. Sin embargo, a medida que se añaden grados ...
    • Learning from demonstrations for autonomous soft-tissue retraction 

      Pore, Ameya Ravindra; Tagliabue, Eleonora; Piccinelli, Marco; Dall'Alba, Diego; Casals Gelpí, Alicia; Fiorini, Paolo (2021)
      Text en actes de congrés
      Accés obert
      The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory position. Although Learning from Demonstrations ...
    • Modelo virtual de una plataforma de movilidad ortesis-silla para entornos domésticos 

      Minguella Canela, Joaquim; Iturbe Etxabe, Eider; Muñoz Morgado, Luis Miguel; Casals Gelpí, Alicia (Universidade da Coruña. Servizo de Publicacións, 2023)
      Text en actes de congrés
      Accés obert
      Dada una plataforma híbrida silla-ortesis que permita gestionar movilidad, postura y actuación, es necesario controlar numerosos grados de libertad. Para que la plataforma sea funcional, es necesario asegurar que el ...
    • Motor-model-based dynamic scaling in human-computer interfaces 

      Muñoz Morgado, Luis Miguel; Casals Gelpí, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep (2011-04)
      Article
      Accés restringit per política de l'editorial
      This paper presents a study on how the application of scaling techniques to an interface affects its performance. A progressive scaling factor based on the position and velocity of the cursor and the targets improves ...
    • Multi-level-assistance robotic platform for navigation in the urinary system: design and preliminary tests 

      Finocchiaro, Martina; Ha Xuan, Thao; Lazo, Jorge; Lai, Chun-Feng; Ramesh, Sanat; Hernansanz Prats, Alberto; Borghesan, Gianni; Dell'Alba, Diego; Tognarelli, Selene; Rosa, Benoit; Casals Gelpí, Alicia; Padoy, Nicolas; Fiorini, Paolo; Dankelman, Jenny; Van der Porten, Emmanuel; Menciassi, Arianna; De Momi, Elena (2022)
      Comunicació de congrés
      Accés obert
    • Multi-task control strategy exploiting redundancy in RMIS 

      Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Sayols Baixeras, Narcís; Pieras Morell, Tomas (2020)
      Text en actes de congrés
      Accés obert
      A single master single slave teleoperation platform was developed to assist the surgeon during Fetoscopic laser Photocoagulation. The master is composed of a 6DoF haptic device and an interactive user interface containing ...
    • New technologies in surgery 

      Casals Gelpí, Alicia; Sayols Baixeras, Narcís; Amat Girbau, Josep (Springer, 2017)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      The progress of technology and robotics in industry has not yield to an equivalent development in the medical field. This paper analyses surgical proce-dures from the point of view of industrial processes looking for ...
    • Optimization criterion for safety task transfer in cooperative robotics 

      Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpí, Alicia (2009)
      Text en actes de congrés
      Accés obert
      This paper presents a strategy for a cooperative multirobot system, constituting a Virtual Robot. The Virtual Robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task ...
    • Physical simulator for colonoscopy: a modular design approach and clinical validation 

      Finocchiaro, Martina; Zabban, Clara; Huan, Yu; Mazzotta, Alessandro D.; Schostek, Sebastian; Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Menciassi, Arianna; Arezzo, Alberto; Ciuti, Gastone (Institute of Electrical and Electronics Engineers (IEEE), 2023-01-01)
      Article
      Accés obert
      Simulators for gastrointestinal endoscopy offer the opportunity to train and assess clinicians’ skills in a low-risk and reliable environment. Physical simulators can enable a direct instrument-to-organ interaction not ...
    • Plataforma para un entorno asistencial inteligente heterogéneo 

      Casals Gelpí, Alicia; Vinagre Ruiz, Manuel; Aranda López, Juan; Amat Girbau, Josep (Comité Español de Automática (CEA-IFAC), 2018)
      Text en actes de congrés
      Accés obert
      La creciente demanda de soporte tecnológico para la asistencia a personas con necesidades especiales obliga a avanzar tecnológi-camente hacia sistemas más eficientes y con más prestaciones. En esta íinea, en este artículo ...
    • Prototype of robotic assistant for craniofacial osteotomies 

      Hueto, J.A.; Navazo Álvaro, Isabel; Casals Gelpí, Alicia; González Lagunas, J.; Raspall, G. (2005-09)
      Article
      Accés restringit per política de l'editorial
      Requirements of accuracy, predictability and safety of contemporary and future surgical procedures makes essential the introduction of new technologies. Robotics have demonstrate in the manufacturing industry, aerospace ...
    • Recovering planned trajectories in robotic rehabilitation therapies under the effect of disturbances 

      Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpí, Alicia (2014-09)
      Article
      Accés restringit per política de l'editorial
      Robotic rehabilitation is an emerging technology in the field of Neurorehabilitation, which aims to achieve an effective patient recovery. This research focusses on the control strategy for an assistive exoskeleton aiming ...
    • Retaining or excising the supraspinatus tendon in complex proximal humeral fractures treated with reverse prosthesis: a biomechanical analysis in two different designs 

      Carbonell Riera, Joan Miquel; Santana, Fernando; Palau Sanz, Edgar; Vinagre Ruiz, Manuel; Casals Gelpí, Alicia (Springer, 2018-11)
      Article
      Accés obert
      Purpose: We aimed to biomechanically evaluate the effect of the supraspinatus tendon on tuberosity stability using two different reverse shoulder arthroplasty (RSA) models for complex proximal humeral fractures ...
    • Robot assisted fetoscopic laser coagulation: improvements in navigation, re-location and coagulation 

      Hernansanz Prats, Alberto; Parra Hernández, Johanna; Sayols Baixeras, Narcís; Eixarch Roca, Elisenda; Gratacós Solsona, Eduard; Casals Gelpí, Alicia (Elsevier, 2024-01)
      Article
      Accés obert
      Fetoscopic Laser Coagulation (FLC) for Twin to Twin Transfusion Syndrome is a challenging intervention due to the working conditions: low quality images acquired from a 3 mm fetoscope inside a turbid liquid environment, ...
    • Robótica en sanidad: asistencia en el quirófano y asistencia a las personas 

      Casals Gelpí, Alicia (2010-07-10)
      Article
      Accés restringit per política de l'editorial