Ponències/Comunicacions de congressos
Recent Submissions
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Global/local motion planning based on dynamic trajectory reconfiguration and dynamical systems for autonomous surgical robots
(2020)
Conference report
Open AccessThis paper addresses the generation of collisionfree trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints ... -
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 ... -
Multi-task control strategy exploiting redundancy in RMIS
(2020)
Conference report
Open AccessA single master single slave teleoperation platform was developed to assist the surgeon during Fetoscopic laser Photocoagulation. The master is composed of a 6DoF haptic device and an interactive user interface containing ... -
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 ... -
Sight to touch: 3D diffeomorphic deformation recovery with mixture components for perceiving forces in robotic-assisted surgery
(Institute of Electrical and Electronics Engineers (IEEE), 2017)
Conference report
Open AccessRobotic-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 ... -
Estimating position & velocity in 3D space from monocular video sequences using a deep neural network
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Conference report
Open AccessThis work describes a regression model based on Convolutional Neural Networks (CNN) and Long-Short Term Memory (LSTM) networks for tracking objects from monocular video sequences. The target application being pursued is ... -
Event-based control for sit-to-stand transition using a wearable exoskeleton
(Institute of Electrical and Electronics Engineers (IEEE), 2017)
Conference report
Open AccessSit-to-stand transition is an essential step in a lower limb rehabilitation therapy, mainly for assisting the patient to transit from wheel chair to the next level of therapy. A mixed stiffness-damping control adaptation ... -
Communication-aware consensus for frequency restoration in islanded microgrids
(Institute of Electrical and Electronics Engineers (IEEE), 2016)
Conference report
Restricted access - publisher's policyMicroGrids (MGs) include spatially distributed generation (DG) systems and loads that may require operating autonomously in islanded mode. The operation of islanded MGs can benefit from consensus theory and practice, ... -
V-ANFIS for Dealing with Visual Uncertainty for Force Estimation in Robotic Surgery
(Atlantis Press, 2015)
Conference report
Open AccessAccurate 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 ... -
Towards estimating cardiac motion using low-rank representation and topology preservation for ultrafast ultrasound data
(Institute of Electrical and Electronics Engineers (IEEE), 2016)
Conference report
Restricted access - publisher's policyEstimation of the cardiac motion is very important in order to detect heart diseases. This work presents a cardiac motion estimation approach using ultrafast ultrasound data. We optimize a variational framework which has ... -
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 ... -
Human activity recognition from object interaction in domestic scenarios
(Institute of Electrical and Electronics Engineers (IEEE), 2016)
Conference report
Open AccessThis paper presents a real time approach to the recognition of human activity based on the interaction between people and objects in domestic settings, specifically in a kitchen. Regarding the procedure, it is based on ...
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