Ponències/Comunicacions de congressos

Recent Submissions

  • Colonoscopy navigation using end-to-end deep visuomotor control: a user study 

    Pore, Ameya Ravindra; Finocchiaro, Martina; Dall'Alba, Diego; Hernansanz Prats, Alberto; Ciuti, Gastone; Arezzo, Alberto; Casals Gelpí, Alicia; Menciassi, Arianna; Fiorini, Paolo (2022)
    Conference report
    Open Access
    Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control ...

  • Human machine interfaces for robot-assisted colonoscopy: a clinical survey 

    Finocchiaro, Martina; Arezzo, Alberto; Menciassi, Arianna; Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Ciuti, Gastone (EasyChair Publications, 2022)
    Conference lecture
    Open Access
    In the last decade, a variety of Human Machine Interfaces (HMI) have been designed for robot assisted colonoscopy, including different input devices, assistive tools and feedback. However, few studies aiming at assessing ...

  • Multi-level-assistance robotic platform for navigation in the urinary system: design and preliminary tests 

    Finocchiaro, Martina; Ha Xuan, Thao; Lazo, Jorge; Lai, Chun-Feng; Ramesh, Sanat; Hernansanz Prats, Alberto; Borghesan, Gianni; Dell'Alba, Diego; Tognarelli, Selene; Rosa, Benoit; Casals Gelpí, Alicia; Padoy, Nicolas; Fiorini, Paolo; Dankelman, Jenny; Van der Porten, Emmanuel; Menciassi, Arianna; De Momi, Elena (2022)
    Conference lecture
    Open Access

  • Global/local motion planning based on dynamic trajectory reconfiguration and dynamical systems for autonomous surgical robots 

    Sayols Baixeras, Narcís; Sozzi, Alessio; Piccinelli, Nicola; Hernansanz Prats, Alberto; Casals Gelpí, Alicia; Bonfè, Marcello; Muradore, Riccardo (2020)
    Conference report
    Open Access
    This 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 

    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 ...

  • Multi-task control strategy exploiting redundancy in RMIS 

    Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Sayols Baixeras, Narcís; Pieras Morell, Tomas (2020)
    Conference report
    Open Access
    A 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 

    Casals Gelpí, 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 ...

  • 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. ...

  • Vision based robot assistance in TTTS fetal surgery 

    Sayols Baixeras, Narcís; Hernansanz Prats, Alberto; Parra Hernández, Johanna; Eixarch Roca, Elisenda; Gratacós Solsona, Eduard; Amat Girbau, Josep; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference report
    Open Access
    This paper presents an accurate and robust tracking vision algorithm for Fetoscopic Laser Photo-coagulation (FLP) surgery for Twin-Twin Transfusion Syndrome (TTTS). The aim of the proposed method is to assist surgeons ...

  • SENTISIM: A hybrid training platform for SLNB in local melanoma staging 

    Hernansanz Prats, Alberto; Pieras Morell, Tomas; Ferrandiz Pulido, Lara; Moreno Ramirez, David; Casals Gelpí, 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 ...

  • Plataforma para un entorno asistencial inteligente heterogéneo 

    Casals Gelpí, 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 ...

  • 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 ...

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