• 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
    Accés obert
    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 ...
  • 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)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    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. ...
  • Estimating and understanding motion : from diagnostic to robotic surgery 

    Avilés Rivero, Angélica Ivone (Universitat Politècnica de Catalunya, 2017-05-18)
    Tesi
    Accés obert
    Estimating and understanding motion from an image sequence is a central topic in computer vision. The high interest in this topic is because we are living in a world where many events that occur in the environment are ...
  • Robust cardiac motion estimation using ultrafast ultrasound data: a low-rank topology-preserving approach 

    Avilés Rivero, Angélica Ivone; Widlak, Thomas; Casals Gelpi, Alicia; Nillesen, Maartje M.; Ammari, Habib (2017-06-21)
    Article
    Accés obert
    Cardiac motion estimation is an important diagnostic tool for detecting heart diseases and it has been explored with modalities such as MRI and conventional ultrasound (US) sequences. US cardiac motion estimation still ...
  • Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery 

    Avilés Rivero, Angélica Ivone; Alsaleh, Samar M.; Sobrevilla Frisón, Pilar; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Comunicació de congrés
    Accés obert
    This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. ...
  • Towards retrieving force feedback in robotic-assisted surgery: a supervised neuro-recurrent-vision approach 

    Avilés Rivero, Angélica Ivone; Alsaleh, Samar M.; Hahn, James K.; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2017-07-01)
    Article
    Accés obert
    Robotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients. Nonetheless, they still suffer from some limitations ...
  • Unconstrained L1-regularized minimization with interpolated transformations for heart motion compensation 

    Avilés Rivero, Angélica Ivone; Sobrevilla Frisón, Pilar; Casals Gelpi, Alicia (2014)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Motion compensation constitutes a challenging issue in minimally invasive beating heart surgery. Since the zone to be repaired has a dynamic behaviour, precision and surgeon's dexterity decrease. In order to solve this ...
  • V-ANFIS for Dealing with Visual Uncertainty for Force Estimation in Robotic Surgery 

    Avilés Rivero, Angélica Ivone; Alsaleh, Samar M.; Montseny Masip, Eduard; Casals Gelpi, Alicia (Atlantis Press, 2015)
    Text en actes de congrés
    Accés obert
    Accurate and robust estimation of applied forces in Robotic-Assisted Minimally Invasive Surgery is a very challenging task. Many vision-based solutions attempt to estimate the force by measuring the surface deformation ...