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Ara es mostren els items 61-80 de 82

    • Safe reinforcement learning using formal verification for tissue retraction in autonomous robotic-assisted surgery 

      Pore, Ameya Ravindra; Corsi, Davide; Marchesini, Enrico; Dall'Alba, Diego; Casals Gelpí, Alicia; Farinelli, Alessandro; Fiorini, Paolo (2021)
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      Deep Reinforcement Learning (DRL) is a viable solution for automating repetitive surgical subtasks due to its ability to learn complex behaviours in a dynamic environment. This task automation could lead to reduced surgeon’s ...

    • Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery 

      Avilés Rivero, Angélica Ivone; Alsaleh, Samar M.; Sobrevilla Frisón, Pilar; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Comunicació de congrés
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      This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. ...

    • Sensory substitution for force feedback recovery: A perception experimental study 

      Avilés Rivero, Angélica; Alsaleh, Samar M.; Philbeck, John; Raventos, Stella P.; Younes, Naji; Hahn, James K.; Casals Gelpí, Alicia (2018-08)
      Article
      Accés obert
      Robotic-assisted surgeries are commonly used today as a more efficient alternative to traditional surgical options. Both surgeons and patients benefit from those systems, as they offer many advantages, including less trauma ...

    • SENTISIM: A hybrid training platform for SLNB in local melanoma staging 

      Hernansanz Prats, Alberto; Pieras Morell, Tomas; Ferrandiz Pulido, Lara; Moreno Ramirez, David; Casals Gelpí, Alicia (Università degli Studi di Genova, 2019)
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      Sentinel Lymph Node Biopsy (SLNB) has been established as an accurate procedure for regional melanoma staging. SNLB has a diagnostic significance as biopsy-based staging identifies patients with nodal metastases who may ...

    • Sight to touch: 3D diffeomorphic deformation recovery with mixture components for perceiving forces in robotic-assisted surgery 

      Avilés Rivero, Angélica; Alsaleh, Samar M.; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2017)
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      Robotic-assisted minimally invasive surgical sys-tems suffer from one major limitation which is the lack of interaction forces feedback. The restricted sense of touch hinders the surgeons’ performance and reduces their ...

    • Sistema integrado de posicionado, visualización y acotamiento de áreas de trabajo en cirugía ortopédica 

      Casals Gelpí, Alicia; Basomba Feliu, Joan; Bergès, Eduard; Frigola Bourlon, Manel; Amat Girbau, Josep (2013)
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      La percepción que el cirujano tiene de la intervención que está realizando es esencial para garantizar una operación segura y eficiente. En cirugía robotizada los sistemas de percepción disponibles son muy limitados, lo ...

    • Sliding to predict: vision-based beating heart motion estimation by modeling temporal interactions 

      Avilés Rivero, Angélica; Alsaleh, Samar M.; Casals Gelpí, Alicia (2018-03)
      Article
      Accés obert
      Purpose: Technical advancements have been part of modern medical solutions as they promote better surgical alternatives that serve to the benefit of patients. Particularly with cardiovascular surgeries, robotic surgical ...

    • Study of patient-orthosis interaction forces in rehabilitation therapies 

      Amigo, Luis; Fernández, Quim; Giralt Ludevid, Xavier; Casals Gelpí, Alicia; Amat Girbau, Josep (Institute of Electrical and Electronics Engineers (IEEE), 2012)
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      The design of mechanical joints that kinematically behave as their biological counterparts is a challenge that if not addressed properly can cause inadequate forces transmission between robot and patient. This paper studies ...

    • Study of synergy patterns during the execution of stroke rehabilitation exercises 

      Urra, Oiane; Casals Gelpí, Alicia; Jané Campos, Raimon (2014)
      Comunicació de congrés
      Accés obert
      Stroke is a leading cause of disability, being motor impairments its major consequence. Despite rehabilitation, more than 60% of the patients report upper-limb motor dysfunction. The design of novel rehabilitation strategies ...

    • Suitable task allocation in intelligent systems for assistive environments 

      Vinagre Ruiz, Manuel; Aranda López, Juan; Casals Gelpí, Alicia (Springer, 2020)
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      The growing need of technological assistance to provide support to people with special needs demands for systems more and more efficient and with better performances. With this aim, this work tries to advance in a multirobot ...

    • Synergy analysis as a tool to design and assess an effective stroke rehabilitation 

      Urra, Oiane; Casals Gelpí, Alicia; Jané Campos, Raimon (Institute of Electrical and Electronics Engineers (IEEE), 2014)
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      The poor rehabilitation success rate, including the cases of ineffective and detrimental adaptations, make stroke a leading cause of disability. Thus, it is essential to recognize the mechanisms driving healthy motor ...

    • Technical and functional validation of a teleoperated multirobots platform for minimally invasive surgery 

      Leporini, Alice; Oleari, Elettra; Landolfo, Carmela; Sanna, Alberto; Larcher, Alessandro; Gandaglia, Giorgio; Fossati, Nicola; Muttin, Fabio; Capitanio, Umberto; Montorsi, Francesco; Sayols Baixeras, Narcís; Hernansanz Prats, Alberto; Casals Gelpí, Alicia (2020-05)
      Article
      Accés obert
      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 impact of visual feedback on the motor control of the upper-limb 

      Urra Vicario, Oiane; Casals Gelpí, Alicia; Jané Campos, Raimon (Institute of Electrical and Electronics Engineers (IEEE), 2015)
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      Stroke is a leading cause of adult disability with upper-limb hemiparesis being one of the most frequent consequences. Given that stroke only affects the paretic arm’s control structure (the set of synergies and activation ...

    • Towards estimating cardiac motion using low-rank representation and topology preservation for ultrafast ultrasound data 

      Avilés Rivero, Angélica; Widlak, Thomas; Casals Gelpí, Alicia; Ammari, Habib (Institute of Electrical and Electronics Engineers (IEEE), 2016)
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      Estimation of the cardiac motion is very important in order to detect heart diseases. This work presents a cardiac motion estimation approach using ultrafast ultrasound data. We optimize a variational framework which has ...

    • Towards retrieving force feedback in robotic-assisted surgery: a supervised neuro-recurrent-vision approach 

      Avilés Rivero, Angélica Ivone; Alsaleh, Samar M.; Hahn, James K.; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2017-07-01)
      Article
      Accés obert
      Robotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients. Nonetheless, they still suffer from some limitations ...

    • Training simulators for gastrointestinal endoscopy: current and future perspectives 

      Finocchiaro, Martina; Cortegoso Valdivia, Pablo; Hernansanz Prats, Alberto; Marino, Nicola; Amram, Denise; Casals Gelpí, Alicia; Menciassi, Arianna; Marlicz, Wojciech; Ciuti, Gastone; Koulaouzidis, Anastasios (2021-03-20)
      Article
      Accés obert
      Gastrointestinal (GI) endoscopy is the gold standard in the detection and treatment ofearly and advanced GI cancers. However, conventional endoscopic techniques are technicallydemanding and require visual-spatial skills ...

    • Unconstrained L1-regularized minimization with interpolated transformations for heart motion compensation 

      Avilés Rivero, Angélica Ivone; Sobrevilla Frisón, Pilar; Casals Gelpí, Alicia (2014)
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      Motion compensation constitutes a challenging issue in minimally invasive beating heart surgery. Since the zone to be repaired has a dynamic behaviour, precision and surgeon's dexterity decrease. In order to solve this ...

    • User intention driven adaptive gait assistance using a wearable exoskeleton 

      Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpí, Alicia (Springer, 2016)
      Article
      Accés obert
      A user intention based rehabilitation strategy for a lower-limb wearable robot is proposed and evaluated. The control strategy, which involves monitoring the human-orthosis interaction torques, determines the gait initiation ...

    • V-ANFIS for Dealing with Visual Uncertainty for Force Estimation in Robotic Surgery 

      Avilés Rivero, Angélica Ivone; Alsaleh, Samar M.; Montseny Masip, Eduard; Casals Gelpí, Alicia (Atlantis Press, 2015)
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      Accurate and robust estimation of applied forces in Robotic-Assisted Minimally Invasive Surgery is a very challenging task. Many vision-based solutions attempt to estimate the force by measuring the surface deformation ...

    • Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery 

      Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2012)
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      This paper presents a novel teleoperation paradigm, the Virtual Robot (VR), focused on facilitating the surgeon tasks in minimally invasive robotic surgery. The VR has been conceived to increase the range of applicability ...