Now showing items 1-20 of 63

    • 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 new relational geometric feature for human action recognition 

      Vinagre Ruiz, Manuel; Aranda López, Juan; Casals Gelpi, 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 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 ...
    • A recurrent convolutional neural network approach for sensorless force estimation in robotic surgery 

      Marbán González, Arturo; Srinivasan, Vignesh; Samek, Wojciech; Fernández Ruzafa, José; Casals Gelpi, 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 Gelpi, 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. ...
    • Adaptive segmentation and mask-specific Sobolev inpainting of specular highlights for endoscopic images 

      Alsaleh, Samar M.; Avilés Rivero, Angélica; Sobrevilla Frisón, Pilar; Casals Gelpi, 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 Gelpi, 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 Gelpi, 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 Gelpi, 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 interactive robotic system for human assistance in domestic environments 

      Vinagre Ruiz, Manuel; Aranda López, Juan; Casals Gelpi, 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 Gelpi, Alicia (2010)
      Conference report
      Open Access
    • 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 ...
    • ATLAS : AuTonomous intraLuminAl Surgery : System specifications for targeted intraluminal interventions : version 2.0.0. 

      Borghesan, Gianni; Finocchiaro, Martina; Trauzettel, Fabian; Pore, Ameya; Casals Gelpi, Alicia (2020-04-19)
      External 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 Gelpi, 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 Gelpi, 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 Gelpi, 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. ...
    • Bitrack: a friendly four arms robot for laparoscopic surgery 

      Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep (2020)
      Conference report
      Open Access
      This 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 ...
    • Compliant gait assistance triggered by user intention 

      Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      An automatic gait initialization strategy based on user intention sensing in the context of rehabilitation with a lower-limb wearable robot is proposed and evaluated. The proposed strategy involves monitoring the human-orthosis ...
    • Control de robots en neurorehabilitación: desde sensores neurales a sensores portables 

      Casals Gelpi, Alicia; Aranda López, Juan; Muñoz Morgado, Luis Miguel; Vinagre Ruiz, Manuel; Martínez Velasco, Antonio Benito; Jané Campos, Raimon; Amat Girbau, Josep (2017-07-06)
      External research report
      Open Access
      Las interfaces BCI tienen ya un cierto grado de desarrollo en el ámbito del diagnóstico y de la interacción persona-computador, sin embargo su aplicación al control de dispositivos robóticos está todavía muy limitado debido ...