Now showing items 1-20 of 85

    • 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 new relational geometric feature for human action recognition 

      Vinagre Ruiz, Manuel; Aranda López, Juan; Casals Gelpí, Alicia (Springer, 2015-01)
      Article
      Restricted access - publisher's policy
      Pose-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 

      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 ...
    • A recurrent convolutional neural network approach for sensorless force estimation in robotic surgery 

      Marbán González, Arturo; Srinivasan, Vignesh; Samek, Wojciech; Fernández Ruzafa, José; Casals Gelpí, Alicia (2019-04)
      Article
      Open Access
      Providing 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 

      Avilés Rivero, Angélica Ivone; Marbán González, Arturo; Sobrevilla Frisón, Pilar; Casals Gelpí, Alicia; Fernández Ruzafa, José (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Conference report
      Restricted access - publisher's policy
      Robotic-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. ...
    • A review on machine learning in flexible surgical and interventional robots: Where we are and where we are going 

      Wu, Di; Zhang, Renchi; Pore, Ameya Ravindra; Dall'Alba, Diego; Ha, Xuan Thao; Li, Zhen; Zhang, Yao; Gonzalez Herrera, Fernando; Ourak, Mouloud; Kowalczyk, Wojtek; De Momi, Elena; Casals Gelpí, Alicia (Elsevier, 2024-03-15)
      Article
      Open Access
      Minimally Invasive Procedures (MIPs) emerged as an alternative to more invasive surgical approaches, offering patient benefits such as smaller incisions, less pain, and shorter hospital stay. In one class of MIPs, where ...
    • Adaptive segmentation and mask-specific Sobolev inpainting of specular highlights for endoscopic images 

      Alsaleh, Samar M.; Avilés Rivero, Angélica; Sobrevilla Frisón, Pilar; Casals Gelpí, Alicia; Hahn, James K. (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Conference lecture
      Restricted access - publisher's policy
      Minimally 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 

      Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      An 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 

      Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpí, Alicia; Pons, Jose Luis (2015-11)
      Article
      Open Access
      Wearable 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 

      Avilés Rivero, Angélica Ivone; Sobrevilla Frisón, Pilar; Casals Gelpí, Alicia (2014-11-14)
      Article
      Open Access
      The 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 explicit total Lagrangian Fragile Points Method for finite deformation of hyperelastic materials 

      Mountris, Konstantinos A.; Li, Mingjing; Schilling, Richard; Dong, Leiting; Atluri, Satya N.; Casals Gelpí, Alicia; Wurdemann, Helge (2023-06)
      Article
      Open Access
      We present a novel meshless algorithm based on the Fragile Points Method (FPM) for hyperelastic materials undergoing finite deformation. In contrast to mesh-based methods, where mesh distortion may pose numerical challenges. ...
    • An interactive robotic system for human assistance in domestic environments 

      Vinagre Ruiz, Manuel; Aranda López, Juan; Casals Gelpí, Alicia (2014)
      Article
      Restricted access - publisher's policy
      This 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 

      Galicia, Berenice; Vallverdú Ferrer, Montserrat; Peydro, Francisca; Casals Gelpí, Alicia (2010)
      Conference report
      Open Access
    • 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 ...
    • ATLAS : AuTonomous intraLuminAl Surgery : System specifications for targeted intraluminal interventions : version 2.0.0. 

      Borghesan, Gianni; Finocchiaro, Martina; Trauzettel, Fabian; Pore, Ameya; Casals Gelpí, Alicia (2020-04-19)
      Research report
      Open Access
      This 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 

      Morales Vidal, Ricardo; Badesa Clemente, Francisco Javier; García Aracil, Nicolás; Aranda López, Juan; Casals Gelpí, Alicia (2015-01-01)
      Article
      Restricted access - publisher's policy
      This 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 

      Alsaleh, Samar M.; Avilés Rivero, Angélica; Sobrevilla Frisón, Pilar; Casals Gelpí, Alicia; Hahn, James K. (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference lecture
      Restricted access - publisher's policy
      In 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 

      Casals Gelpí, Alicia; Amat Girbau, Josep; Laporte, Enric (Institute of Electrical and Electronics Engineers (IEEE), 1996)
      Conference report
      Open Access
      A 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. ...