Exploració per autor "Casals Gelpí, Alicia"
Ara es mostren els items 37-56 de 81
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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 obertIn 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 obertIn 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'editorialThis 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 obertThe 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 obertHuman-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 obertExisten 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 obertThe 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 obertDada 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'editorialThis 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 obertA 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'editorialThe 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 obertThis 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 obertSimulators 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 obertLa 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'editorialRequirements 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'editorialRobotic 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 obertPurpose: 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 obertFetoscopic 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