Now showing items 21-40 of 54

  • Evaluating spatial characteristics of upper-limb movements from EMG signals 

    Urra, Oiane; Casals Gelpi, Alicia; Jané Campos, Raimon (Springer, 2014)
    Part of book or chapter of book
    Open Access
    Stroke is a major cause of disability, usually causing hemiplegic damage on the motor abilities of the patient. Stroke rehabilitation seeks restoring normal motion on the affected limb. However, ‘normality’ of movements ...
  • Exploring improvements on the complexity-performance ratio and usability of surgical robots 

    Casals Gelpi, Alicia; Frigola Bourlon, Manel; Bergés Martín, Eduard; Amat Girbau, Josep (2014)
    Conference report
    Restricted access - publisher's policy
    Surgical robots are endowed with valuable features that allow surgeons mproving their work in terms of accuracy, quality, efficiency and liability. Tremor reduction, scaled movements, virtual fixtures, pre and intraoperative ...
  • Force-feedback sensory substitution using supervised recurrent learning for robotic-assisted surgery 

    Avilés Rivero, Angélica; Alsaleh, Samar M.; Sobrevilla Frisón, Pilar; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Restricted access - publisher's policy
    The lack of force feedback is considered one of the major limitations in Robot Assisted Minimally Invasive Surgeries. Since add-on sensors are not a practical solution for clinical environments, in this paper we present a ...
  • IK-FA, a new heuristic inverse kinematics solver using firefly algorithm 

    Rokbani, Nizar; Casals Gelpi, Alicia; Alimi, Adel M. (Springer, 2015-11-27)
    Part of book or chapter of book
    Open Access
    In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of ...
  • 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 ...
  • Improving the performance of input interfaces through scaling and human motor models 

    Muñoz Morgado, Luis Miguel; Casals Gelpi, Alicia (2016)
    Article
    Open Access
    The performance of interfaces is affected by human factors, which vary from one person to another, and by the inherent characteristics of the various devices involved. A set of techniques has been studied in order to ...
  • Intuitive graphic interface for assisted teleoperation in surgical applications 

    Casals Gelpi, Alicia; Campos Querol, Jordi; Giralt Ludevid, Xavier; Amat Girbau, Josep (2010)
    Conference lecture
    Open Access
    Human-Machine interfaces constitute a key factor to guarantee the effective use of technological equipment. In the field of image guided surgery and surgical robots, the availability of an adequate interaction means ...
  • Motor-model-based dynamic scaling in human-computer interfaces 

    Muñoz Morgado, Luis Miguel; Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep (2011-04)
    Article
    Restricted access - publisher's policy
    This paper presents a study on how the application of scaling techniques to an interface affects its performance. A progressive scaling factor based on the position and velocity of the cursor and the targets improves ...
  • New technologies in surgery 

    Casals Gelpi, Alicia; Sayols Baixeras, Narcís; Amat Girbau, Josep (Springer, 2017)
    Conference report
    Restricted access - publisher's policy
    The progress of technology and robotics in industry has not yield to an equivalent development in the medical field. This paper analyses surgical proce-dures from the point of view of industrial processes looking for ...
  • 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 ...
  • Plataforma para un entorno asistencial inteligente heterogéneo 

    Casals Gelpi, Alicia; Vinagre Ruiz, Manuel; Aranda López, Juan; Amat Girbau, Josep (Comité Español de Automática (CEA-IFAC), 2018)
    Conference report
    Open Access
    La creciente demanda de soporte tecnológico para la asistencia a personas con necesidades especiales obliga a avanzar tecnológi-camente hacia sistemas más eficientes y con más prestaciones. En esta íinea, en este artículo ...
  • Prototype of robotic assistant for craniofacial osteotomies 

    Hueto, J.A.; Navazo Álvaro, Isabel; Casals Gelpi, Alicia; González Lagunas, J.; Raspall, G. (2005-09)
    Article
    Restricted access - publisher's policy
    Requirements of accuracy, predictability and safety of contemporary and future surgical procedures makes essential the introduction of new technologies. Robotics have demonstrate in the manufacturing industry, aerospace ...
  • Recovering planned trajectories in robotic rehabilitation therapies under the effect of disturbances 

    Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpi, Alicia (2014-09)
    Article
    Restricted access - publisher's policy
    Robotic rehabilitation is an emerging technology in the field of Neurorehabilitation, which aims to achieve an effective patient recovery. This research focusses on the control strategy for an assistive exoskeleton aiming ...
  • Retaining or excising the supraspinatus tendon in complex proximal humeral fractures treated with reverse prosthesis: a biomechanical analysis in two different designs 

    Carbonell Riera, Joan Miquel; Santana, Fernando; Palau Sanz, Edgar; Vinagre Ruiz, Manuel; Casals Gelpi, Alicia (Springer, 2018-11)
    Article
    Open Access
    Purpose: We aimed to biomechanically evaluate the effect of the supraspinatus tendon on tuberosity stability using two different reverse shoulder arthroplasty (RSA) models for complex proximal humeral fractures ...
  • Robótica en sanidad: asistencia en el quirófano y asistencia a las personas 

    Casals Gelpi, Alicia (2010-07-10)
    Article
    Restricted access - publisher's policy
  • 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
    Open Access
    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)
    Conference lecture
    Open Access
    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. ...
  • Sensory substitution for force feedback recovery: A perception experimental study 

    Avilés Rivero, Angélica; Alsaleh, Samar M.; Philbeck, John; Raventos, Stella P.; Younes, Naji; Hahn, James K.; Casals Gelpi, Alicia (2018-08)
    Article
    Open Access
    Robotic-assisted surgeries are commonly used today as a more efficient alternative to traditional surgical options. Both surgeons and patients benefit from those systems, as they offer many advantages, including less trauma ...
  • 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 ...
  • Sight to touch: 3D diffeomorphic deformation recovery with mixture components for perceiving forces in robotic-assisted surgery 

    Avilés Rivero, Angélica; Alsaleh, Samar M.; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Open Access
    Robotic-assisted minimally invasive surgical sys-tems suffer from one major limitation which is the lack of interaction forces feedback. The restricted sense of touch hinders the surgeons’ performance and reduces their ...