Now showing items 1-16 of 16

    • A hFSM based cognitive control architecture for assistive task in R-MIS 

      Casals Gelpi, 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 Gelpi, 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 Gelpi, 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 Gelpi, 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 ...
    • 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 Gelpi, 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 Gelpi, 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 ...
    • Improving the development of surgical skills with virtual fixtures in simulation 

      Hernansanz Prats, Alberto; Zerbato, Davide; Gasperotti, Lorenza; Scandola, Michele; Fiorini, Paolo; Casals Gelpi, 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-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 Gelpi, 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 Gelpi, 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 ...
    • SENTISIM: A hybrid training platform for SLNB in local melanoma staging 

      Hernansanz Prats, Alberto; Pieras Morell, Tomas; Ferrandiz Pulido, Lara; Moreno Ramirez, David; Casals Gelpi, 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 ...
    • 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 Gelpi, Alicia (2020-05)
      Article
      Open Access
      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. ...
    • Training simulators for gastrointestinal endoscopy: current and future perspectives 

      Finocchiaro, Martina; Cortegoso Valdivia, Pablo; Hernansanz Prats, Alberto; Marino, Nicola; Amram, Denise; Casals Gelpi, Alicia; Menciassi, Arianna; Marlicz, Wojciech; Ciuti, Gastone; Koulaouzidis, Anastasios (2021-03-20)
      Article
      Open Access
      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 ...
    • Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery 

      Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2012)
      Conference report
      Restricted access - publisher's policy
      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 ...
    • Vision based robot assistance in TTTS fetal surgery 

      Sayols Baixeras, Narcís; Hernansanz Prats, Alberto; Parra Hernández, Johanna; Eixarch Roca, Elisenda; Gratacós Solsona, Eduard; Amat Girbau, Josep; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Conference report
      Open Access
      This paper presents an accurate and robust tracking vision algorithm for Fetoscopic Laser Photo-coagulation (FLP) surgery for Twin-Twin Transfusion Syndrome (TTTS). The aim of the proposed method is to assist surgeons ...