Browsing by Author "Casals Gelpi, Alicia"
Now showing items 1-20 of 76
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A hFSM based cognitive control architecture for assistive task in R-MIS
(2020)
Conference report
Open AccessSARAS 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
(2015-06-01)
Article
Open AccessThe 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 new relational geometric feature for human action recognition
(Springer, 2015-01)
Article
Restricted access - publisher's policyPose-based features have demonstrated to outperform low-levelappearance features in human action recognition. New RGB-D cameras provide locations of human joints with which geometric correspondences can be easily calculated. ... -
A physical/virtual anatomical platform for hysteroscopy training
(Università degli Studi di Genova, 2019)
Conference report
Open AccessMinimally 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 ... -
A recurrent convolutional neural network approach for sensorless force estimation in robotic surgery
(2019-04)
Article
Open AccessProviding force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed by the surgical environment. In this context, ... -
A recurrent neural network approach for 3d vision-based force estimation
(Institute of Electrical and Electronics Engineers (IEEE), 2014)
Conference report
Restricted access - publisher's policyRobotic-assisted minimally invasive surgery has demonstrated its benefits in comparison with traditional procedures. However, one of the major drawbacks of current robotic system approaches is the lack of force feedback. ... -
Adaptive segmentation and mask-specific Sobolev inpainting of specular highlights for endoscopic images
(Institute of Electrical and Electronics Engineers (IEEE), 2016)
Conference lecture
Restricted access - publisher's policyMinimally invasive surgical and diagnostic systems rely on endoscopic images of internal organs to assist medical tasks. Specular highlights are common on those images due to the strong reflectivity of the mucus layer on ... -
Adaptive walking assistance based on human-orthosis interaction
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference report
Open AccessAn assistive rehabilitation strategy for a lower-limb wearable robot is proposed and evaluated. The control strategy monitors the human-orthosis interaction torques and modifies the orthosis operation mode depending on its ... -
An adaptive control strategy for postural stability using a wearable robot
(2015-11)
Article
Open AccessWearable robots are expected to expand the use of robotics in rehabilitation since they can widen the assistance application context. An important aspect of a rehabilitation therapy, in terms of lower extremity assistance, ... -
An approach for physiological motion compensation in robotic-assisted cardiac surgery
(2014-11-14)
Article
Open AccessThe lack of physiological motion compensation is a major problem in robotic-assisted cardiac surgery. Since the heart is beating while the surgeon carried out the procedure, dexterity of the surgeon’s and precision are ... -
An interactive robotic system for human assistance in domestic environments
(2014)
Article
Restricted access - publisher's policyThis work introduces an interactive robotic system for assistance, conceived to tackle some of the challenges that domestic environments impose. The system is organized into a network of heterogeneous components that share ... -
Analisis de la señal del centro de presiones mediante auto-informacion mutua: Test con ojos abiertos
(2010)
Conference report
Open Access -
Assistance strategies for robotized laparoscopy
(Springer, 2020)
Part of book or chapter of book
Open AccessRobotizing 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 ... -
ATLAS : AuTonomous intraLuminAl Surgery : System specifications for targeted intraluminal interventions : version 2.0.0.
(2020-04-19)
Research report
Open AccessThis deliverable summarizes the first efforts from the ESRs in designing common demonstrator platforms for developing and testing autonomous intraluminal navigation schemes. Through this endeavour ESRs are encouraged to ... -
Autoadaptive neurorehabilitation robotic system assessment with a post-stroke patient
(2015-01-01)
Article
Restricted access - publisher's policyThis paper presents a new rehabilitation system that is able to adapt its performance to patient's psychophysiological state during the execution of robotic rehabilitation tasks. Using this approach, the motivation and ... -
Automatic and robust single-camera specular highlight removal in cardiac images
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference lecture
Restricted access - publisher's policyIn computer-assisted beating heart surgeries, accurate tracking of the heart’s motion is of huge importance and there is a continuous need to eliminate any source of error that might disturb the tracking process. One source ... -
Automatic guidance of and assistant robot in laparoscopic surgery
(Institute of Electrical and Electronics Engineers (IEEE), 1996)
Conference report
Open AccessA robotic arm which automatically guides the camera in the laparoscopic surgery is presented. The goal of this work is to generate adequate camera control strategies to track the working scene during a surgical procedure. ... -
Autonomous navigation for robot-assisted intraluminal and endovascular procedures: a systematic review
(Institute of Electrical and Electronics Engineers (IEEE), 2023-01-01)
Article
Open AccessIncreased 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 ... -
Beat-to-beat fetal heart rate analysis using portable medical device and wavelet transformation technique
(Elsevier Ltd, 2022-12-01)
Article
Open AccessObjective: Beat-to-beat tele-fetal monitoring and comparison with clinical data are studied with a wavelet transformation approach. Tele-fetal monitoring is a big progress toward a wearable medical device for pregnant women ... -
Bitrack: a friendly four arms robot for laparoscopic surgery
(2020)
Conference report
Open AccessThis paper presents the Bitrack system, which is a new laparoscopic surgical robot, designed at UPC, and currently undergoing the process of certification by a spin-off created for its exploitation, RSS. This new robot ...
