Now showing items 1-20 of 24

    • A framework for the evaluation of human machine interfaces of robot-assisted colonoscopy 

      Finocchiaro, Martina; Banfi, Tommaso; Donaire Cónsul, Sònia; Arezzo, Alberto; Guarner Argente, Carlos; Menciassi, Arianna; Casals Gelpí, Alicia; Ciuti, Gastone; Hernansanz Prats, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2023-01-01)
      Article
      Open Access
      The Human Machine Interface (HMI) of intraluminal robots has a crucial impact on the clinician's performance. It increases or decreases the difficulty of the tasks, and is connected to the users' physical and mental stress. ...
    • A hFSM based cognitive control architecture for assistive task in R-MIS 

      Casals Gelpí, Alicia; Sayols Baixeras, Narcís; Hernansanz Prats, Alberto (2020)
      Conference report
      Open Access
      SARAS aims to develop assistive surgical robots for laparoscopic MIS, autonomously operating in the same workspace of either a teleoperated surgical robot or a manually driven surgical tool. The auxiliary robots autonomously ...
    • A multi-robot cooperation strategy for dexterous task oriented teleoperation 

      Hernansanz Prats, Alberto; Casals Gelpí, Alicia; Amat Girbau, Josep (2015-06-01)
      Article
      Open Access
      The use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of ...
    • A physical/virtual anatomical platform for hysteroscopy training 

      Rovira Negre, Ramón; Martínez, R.; Hernansanz Prats, Alberto; Casals Gelpí, Alicia (Università degli Studi di Genova, 2019)
      Conference report
      Open Access
      Minimally Invasive Surgery (MIS), which consists in operating through small orifices, reduces the patients’ pain, complications, recovery time and scarring. However, while providing many benefits, the skills required in ...
    • Assistance strategies for robotized laparoscopy 

      Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Sayols Baixeras, Narcís; Amat Girbau, Josep (Springer, 2020)
      Part of book or chapter of book
      Open Access
      Robotizing laparoscopic surgery not only allows achieving better accuracy to operate when a scale factor is applied between master and slave or thanks to the use of tools with 3 DoF, which cannot be used in conventional ...
    • Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review 

      Pore, Ameya Ravindra; Li, Zhen; Dall'Alba, Diego; Hernansanz Prats, Alberto; De Momi, Elena; Menciassi, Arianna; Casals Gelpí, Alicia; Dankelman, Jenny; Fiorini, Paolo; Poorten, Emmanuel Vander (Institute of Electrical and Electronics Engineers (IEEE), 2023-01-01)
      Article
      Open Access
      Increased demand for less invasive procedures has accelerated the adoption of Intraluminal Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and vessels. As navigation through lumens and ...
    • Colonoscopy navigation using end-to-end deep visuomotor control: a user study 

      Pore, Ameya Ravindra; Finocchiaro, Martina; Dall'Alba, Diego; Hernansanz Prats, Alberto; Ciuti, Gastone; Arezzo, Alberto; Casals Gelpí, Alicia; Menciassi, Arianna; Fiorini, Paolo (2022)
      Conference report
      Open Access
      Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control ...
    • EndoTrainer: a novel hybrid training platform for endoscopic surgery 

      Hernansanz Prats, Alberto; Rovira Negre, Ramón; Basomba, Joan; Comas, Roger; Casals Gelpí, Alicia (2023-01-01)
      Article
      Open Access
      Purpose Endoscopy implies high demanding procedures, and their practice requires structured formation curricula supported by adequate training platforms. Physical platforms are the most standardised solution for surgical ...
    • Global/local motion planning based on dynamic trajectory reconfiguration and dynamical systems for autonomous surgical robots 

      Sayols Baixeras, Narcís; Sozzi, Alessio; Piccinelli, Nicola; Hernansanz Prats, Alberto; Casals Gelpí, Alicia; Bonfè, Marcello; Muradore, Riccardo (2020)
      Conference report
      Open Access
      This paper addresses the generation of collisionfree trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints ...
    • Guest Editorial CRAS—Joining Efforts, Progressing Faster 

      Casals Gelpí, Alicia; Hernansanz Prats, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2021-11-30)
      Article
      Open Access
      CRAS – the Conference on New Technologies for Computer and Robot Assisted Surgery – strives to strengthen the collaboration and knowledge exchange between research groups active in this field and by doing so shorten the ...
    • 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)
      Conference lecture
      Open Access
      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 ...
    • 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)
      Conference report
      Restricted access - publisher's policy
      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 ...
    • Intraamniotic sealing of fetoscopic membrane defects in ex vivo and in vivo sheep models using an integrated semirigid bioadhesive patch 

      Micheletti, Talita; Eixarch Roca, Elisenda; Febas Bosomba, Germán; Berdún Martín, Sergio; Parra Hernández, Johanna; Hernansanz Prats, Alberto; Borrós Gómez, Salvador; Gratacós Solsona, Eduard (Elsevier, 2022-05-01)
      Article
      Open Access
      BACKGROUND: Preterm prelabor rupture of membranes is the most frequent complication of fetoscopic surgery. Strategies to seal the membrane defect created by fetoscopy have been attempted with little success. We previously ...
    • 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)
      Conference lecture
      Open Access
    • Multi-robot cooperative platform : a task-oriented teleoperation paradigm 

      Hernansanz Prats, Alberto (Universitat Politècnica de Catalunya, 2016-04-14)
      Doctoral thesis
      Open Access
      This thesis proposes the study and development of a teleoperation system based on multi-robot cooperation under the task oriented teleoperation paradigm: Multi-Robot Cooperative Paradigm, MRCP. In standard teleoperation, ...
    • Multi-task control strategy exploiting redundancy in RMIS 

      Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Sayols Baixeras, Narcís; Pieras Morell, Tomas (2020)
      Conference report
      Open Access
      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 ...
    • Optimization criterion for safety task transfer in cooperative robotics 

      Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpí, Alicia (2009)
      Conference report
      Open Access
      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
      Open Access
      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 ...
    • 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
      Open Access
      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, ...
    • 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)
      Conference report
      Open Access
      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 ...