Risultati finali
Design of the humanrobot interaction toolkit to support the design adaptation and execution processes Based on humancentric methodology and feedback from respective endusers the necessary graphical user interfaces will be defined along with the necessary interfaces needed to interact with the main controller of the SMARTsurg platform
Lab setup methodology, s/w and h/w system extensions validationSeveral test trials for the validation and testing of the each of the components hardware extensions to the system and the software modules that constitute the SMARTsurg framework Update version will be available in M33
On-the-fly 3D reconstruction of the surgical fieldAlgorithms for realtime 3D reconstruction of the surgical field providing the surgeon with the necessary visual feedback for accurate teleoperation of the slave instrument Update version will be available in M28
Market analysis and exploitation strategyAn initial exploitation plan will be made within the first 12 months and different versions of the exploitation plan will be updated during the project life Updated versions will be available in M24 and M36
Ethics and Safety Manual for SMARTsurg technologyThe project will deliver an ethics manual which will be issued by Month 5 of the project The Ethics Heldpdesk established at Month 3 lead CERTH will supervise all relevant issues for the demonstration phase of the project in UWE premises as well as to the recognition of key ethical and legal issues to be addressed ie consent forms data collection procedure for the validation of the visionbased toolkit etc An updated version will be available in M36
SMARTsurg consolidated evaluationComparison of SMARTsurg with the standard system for teleoperation the Da Vinci robot will be exploited through the use of the DVRK This will allow performing reference procedures with the standard instruments and standard vs space variable control to be compared to SMARTsurg new basic and bespoke instrumentsUpdate version will be available in M35
Website and Social Media Presence LaunchEstablishing and conducting the overall Web and Social Media presence of the SMARTsurg project
Dynamic active constraints constructionRegistration of surface or volume models segmented from the medical images on to the vision system and the robot reference frame Update version will be available in M26
Report on R-A MIS protocol extraction and verificationA protocol will be semiautomatically defined for the examined robotassisted MIS procedure and verified
Augmented reality composite view creation and visualisationMethodology for extracting virtual content and coregistering it to the 3D reconstructed views of the surgical field Visualization of the created augmented reality composite will be efficiently displayed on the binocular smart glasses worn by the surgeonUpdate version will be available in M28
Final plan for the use and exploitation of foregroundElaborating a viable business plan based on the methodology proposed in earlier sections as well as the signature of the exploitation agreement
Report on evaluation of surgical toolsDeveloped SMARTsurg surgical tools evaluated by surgeons junior senior on surgical phantoms and later on pig cadavers based on previously established criteria
End-user requirements, use cases and application scenariosThe workflow from imaging to robot deployment into the patients body and actual operation will be defined as a design constrain for the overall architecture and for the User Interface
Dynamic active constraints enforcementInnovative control schemes capable of enforcing dynamic active constraints constructed on the fly from the real operational siteUpdate version will be available in M30
Surgical protocol and workflow for ex-vivo animal testing of SMARTsurg prototypeDescription of the surgical steps and the use of developed Smartsurg prototype for testing on exvivo animal samples
Report on user-centred design of surgical toolsSurgical scenarios will define functional and nonfunctional requirements of the SMART surg teleoperation system and more specifically surgical instruments
SMARTsurg system specifications and conceptual architecturei the overall architecture of the SMARTsurg framework conceptual deployment development information flow and on ii deriving the specifications of the key components and their functionalitiesAn updated version will be available in M24
Report on Haptic feedback system developmentHaptic feedback provided through Virtuose haptic arm on the human arm and haptic feedback acting on the surgeons hand while manipulating the soft tissue will be analysed and comparedUpdate version will be available in M30
All the software and hardware developed in WP4WP6 will be integrated into the final system Update version will be available in M33
Wearable surgical system demonstrationAdjustable sensorised hand exoskeleton will be rapid prototyped and integrated with a commercial haptic arm Haption Virtuose 6d Desktop to allow realtime tracking of the surgeons hand digits and arm motionUpdate version will be available in M28
SMARTsurg use cases deployment and executionDeployment and testing of the developed SMARTsurg demonstrators Update version will be available in M35
Surgical Instrument prototype ready for first use trialA threedigit surgical tool telecontrolled using the master hand exoskeleton
"""Clip-On"" tool interchangeability system concept and rapid prototype"A clipon concept for fast change of surgical instruments using a commercial manipulator Update version will be available in M30
A description of business models related to the SMARTsurg project exploitable resultsUpdated version will be available in M36
Pubblicazioni
Autori:
Hang Su, Yunus Schmirander, Sarah Elena Valderrama-Hincapie, Jairo Pinedo, Xuanyi Zhou, Jiehao Li, Longbin Zhang, Yingbai Hu, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
Sensors and Materials, Numero 32/4, 2020, Pagina/e 1223, ISSN 0914-4935
Editore:
M Y U Scientific Publishing Division
DOI:
10.18494/sam.2020.2618
Autori:
Salih Ertug Ovur, Hang Su, Wen Qi, Elena De Momi, Giancarlo Ferrigno
Pubblicato in:
IEEE Transactions on Instrumentation and Measurement, Numero 70, 2021, Pagina/e 1-8, ISSN 0018-9456
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/tim.2021.3063752
Autori:
Hang Su, Wen Qi, Yingbai Hu, Juan Sandoval, Longbin Zhang, Yunus Schmirander, Guang Chen, Andrea Aliverti, Alois Knoll, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
Sensors, Numero 19/17, 2019, Pagina/e 3636, ISSN 1424-8220
Editore:
Multidisciplinary Digital Publishing Institute (MDPI)
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Autori:
Morad, S., Jaffer, Z. and Dogramadzi, S.
Pubblicato in:
Journal of Medical Robotics Research, 2021, ISSN 2424-905X
Editore:
World Scientific Publishing
DOI:
10.1142/s2424905x21500057
Autori:
Hirenkumar Nakawala, Elena De Momi, Antonia Tzemanaki, Sanja Dogramadzi, Andrea Russo, Michele Catellani, Roberto Bianchi, Ottavio De Cobelli, Aristotelis Sideridis, Emmanuel Papacostas, Anthony Koupparis, Edward Rowe, Raj Persad, Raimondo Ascione, Giancarlo Ferrigno
Pubblicato in:
International Journal of Advanced Robotic Systems, Numero 16/4, 2019, Pagina/e 172988141986580, ISSN 1729-8814
Editore:
SAGE Publishing
DOI:
10.1177/1729881419865805
Autori:
Hang Su, Wen Qi, Yingbai Hu, Hamid Reza Karimi, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
IEEE Transactions on Industrial Informatics, 2020, Pagina/e 1-1, ISSN 1551-3203
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/tii.2020.3036693
Autori:
Sajeeva Abeywardena, Qiaodi Yuan, Antonia Tzemanaki, Efi Psomopoulou, Leonidas Droukas, Chris Melhuish, Sanja Dogramadzi
Pubblicato in:
Frontiers in Robotics and AI, Numero 6, 2019, ISSN 2296-9144
Editore:
Frontiers Media
DOI:
10.3389/frobt.2019.00056
Autori:
Alessia Capace, Carlo Cosentino, Haider Abidi, Ferdinando Cannella, Francesco Amato, Sanja Dogramadzi, Alessio Merola
Pubblicato in:
Mechatronics, 2021, ISSN 0957-4158
Editore:
Pergamon Press Ltd.
DOI:
10.1016/j.mechatronics.2021.102578
Autori:
Hang Su; Wen Qi; Zhijun Li; Ziyang Chen; Giancarlo Ferrigno; Elena De Momi
Pubblicato in:
IEEE Transactions on Artificial Intelligence, Numero 4, 2021, Pagina/e 404 - 412, ISSN 2691-4581
Editore:
IEEE
DOI:
10.1109/tai.2021.3066565
Autori:
Hang Su, Chenguang Yang, Hussein Mdeihly, Alessandro Rizzo, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
IEEE Access, Numero 7, 2019, Pagina/e 122041-122051, ISSN 2169-3536
Editore:
Institute of Electrical and Electronics Engineers Inc.
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Autori:
Hang Su, Wen Qi, Chenguang Yang, Andrea Aliverti, Giancarlo Ferrigno, Elena De Momi
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IEEE Access, Numero 7, 2019, Pagina/e 124207-124216, ISSN 2169-3536
Editore:
Institute of Electrical and Electronics Engineers Inc.
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Autori:
Zhuoqi Cheng, Diego Dall'Alba, Simone Foti, Andrea Mariani, Thibaud Chupin, Darwin G. Caldwell, Giancarlo Ferrigno, Elena De Momi, Leonardo S. Mattos, Paolo Fiorini
Pubblicato in:
Frontiers in Robotics and AI, Numero 6, 2019, ISSN 2296-9144
Editore:
Frontiers Media SA
DOI:
10.3389/frobt.2019.00055
Autori:
Salih Ertug Ovur, Xuanyi Zhou, Wen Qi, Longbin Zhang, Yingbai Hu, Hang Su, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
Biomedical Signal Processing and Control, Numero 66, 2021, Pagina/e 102444, ISSN 1746-8094
Editore:
Elsevier BV
DOI:
10.1016/j.bspc.2021.102444
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Antonia Tzemanaki, Gorkem Anil Al, Chris Melhuish, Sanja Dogramadzi
Pubblicato in:
Frontiers in Robotics and AI, Numero 5, 2018, ISSN 2296-9144
Editore:
Frontiers
DOI:
10.3389/frobt.2018.00062
Autori:
Nima Enayati, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
The International Journal of Medical Robotics and Computer Assisted Surgery, Numero 14/1, 2018, Pagina/e e1873, ISSN 1478-5951
Editore:
John Wiley & Sons Ltd.
DOI:
10.1002/rcs.1873
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Nima Enayati, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
Autonomous Robots, Numero 42/5, 2018, Pagina/e 997-1009, ISSN 0929-5593
Editore:
Kluwer Academic Publishers
DOI:
10.1007/s10514-017-9675-4
Autori:
Hirenkumar Nakawala, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
Artificial Intelligence in Medicine, Numero 84, 2018, Pagina/e 50-63, ISSN 0933-3657
Editore:
Elsevier BV
DOI:
10.1016/j.artmed.2017.10.004
Autori:
Veronica Penza, Elena De Momi, Nima Enayati, Thibaud Chupin, Jesús Ortiz, Leonardo S. Mattos
Pubblicato in:
Frontiers in Robotics and AI, Numero 4, 2017, Pagina/e 1-13, ISSN 2296-9144
Editore:
Frontiers
DOI:
10.3389/frobt.2017.00015
Autori:
Jacopo Buzzi, Cecilia Gatti, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
IEEE Robotics and Automation Letters, Numero 2/3, 2017, Pagina/e 1733-1739, ISSN 2377-3766
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/lra.2017.2678546
Autori:
Jacopo Buzzi, Giancarlo Ferrigno, Joost M. Jansma, Elena De Momi
Pubblicato in:
Frontiers in Neuroscience, Numero 11, 2017, Pagina/e 50-63, ISSN 1662-453X
Editore:
Frontiers in Neuroscience
DOI:
10.3389/fnins.2017.00528
Autori:
Hirenkumar Nakawala, Roberto Bianchi, Laura Erica Pescatori, Ottavio De Cobelli, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
International Journal of Computer Assisted Radiology and Surgery, Numero 14/4, 2019, Pagina/e 685-696, ISSN 1861-6410
Editore:
Springer Verlag
DOI:
10.1007/s11548-018-1882-8
Autori:
Hang Su, Andrea Mariani, Salih Ertug Ovur, Arianna Menciassi, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
IEEE Transactions on Automation Science and Engineering, Numero 18/2, 2021, Pagina/e 484-494, ISSN 1545-5955
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/tase.2020.3045655
Autori:
Jacopo Buzzi, Elena De Momi, Ilana Nisky
Pubblicato in:
IEEE Transactions on Biomedical Engineering, Numero 66/2, 2019, Pagina/e 391-402, ISSN 0018-9294
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/tbme.2018.2842458
Autori:
Hang Su, Chenguang Yang, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
IEEE Robotics and Automation Letters, Numero 4/2, 2019, Pagina/e 1447-1453, ISSN 2377-3766
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/lra.2019.2897145
Autori:
Hang Su, Yingbai Hu, Hamid Reza Karimi, Alois Knoll, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
Neural Networks, Numero 131, 2020, Pagina/e 291-299, ISSN 0893-6080
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10.1016/j.neunet.2020.07.033
Autori:
J. Sandoval, H. Su, P. Vieyres, G. Poisson, G. Ferrigno, E. De Momi
Pubblicato in:
Robotics and Autonomous Systems, Numero 106, 2018, Pagina/e 95-106, ISSN 0921-8890
Editore:
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10.1016/j.robot.2018.04.001
Autori:
Xuanyi Zhou, Wen Qi, Salih Ertug Ovur, Longbin Zhang, Yingbai Hu, Hang Su, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
Journal of Ambient Intelligence and Humanized Computing, Numero 11/11, 2020, Pagina/e 5569-5580, ISSN 1868-5137
Editore:
Springer Verlag
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10.1007/s12652-020-01913-3
Autori:
M. Vasilkovski, S.E. Ovur, E. De Momi, G. Ferrigno
Pubblicato in:
Italian Robotics and Intelligent Machines (I-RIM) Conference, 2019
Editore:
Italian Robotics and Intelligent Machines (I-RIM) Conference
Autori:
Hang Su, Shuai Li, Jagadesh Manivannan, Luca Bascetta, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
2019 International Conference on Robotics and Automation (ICRA), 2019, Pagina/e 1323-1328, ISBN 978-1-5386-6027-0
Editore:
Institute of Electrical and Electronics Engineers
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10.1109/icra.2019.8793676
Autori:
Georgios Zampokas, Konstantinos Tsiolis, Georgia Peleka, Ioannis Mariolis, Sotiris Malasiotis, Dimitrios Tzovaras
Pubblicato in:
2018 IEEE International Conference on Imaging Systems and Techniques (IST), 2018, Pagina/e 1-6, ISBN 978-1-5386-6628-9
Editore:
IEEE
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10.1109/ist.2018.8577106
Autori:
Theodora Kastritsi, Dimitrios Papageorgiou, Iason Sarantopoulos, Sotiris Stavridis, Zoe Doulgeri, George A. Rovithakis
Pubblicato in:
2019 International Conference on Robotics and Automation (ICRA), 2019, Pagina/e 8346-8352, ISBN 978-1-5386-6027-0
Editore:
Institute of Electrical and Electronics Engineers
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Autori:
Mohammad Fattahi Sani, Mario Esteban Ochoa, Sanja Dogramadzi
Pubblicato in:
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019, Pagina/e 2964-2970, ISBN 978-1-7281-6321-5
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/robio49542.2019.8961467
Autori:
Hang Su, Juan Sandoval, Mohatashem Makhdoomi, Giancarlo Ferrigno, Elena De Momi
Pubblicato in:
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Pagina/e 6611-6616, ISBN 978-1-5386-3081-5
Editore:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/icra.2018.8463148
Autori:
Morelli, A,Moccia, S, Mattos, L, Cordima,G, De Cobelli, O, Ferrigno, G and De Momi, E
Pubblicato in:
VI National Congress of Bioemgineering, 2018
Editore:
Bioengineering
Autori:
Enayati, N, Chupin, T, De Momi, E, Ferrigno, G
Pubblicato in:
CRAS 2017- 7th Joint Workshop on New Technologies for Computer/Assisted Surgery, 2017
Editore:
CRAS
Autori:
V Penza, E De Momi, N Enayati, T Chupin, J Ortiz, L. S Mattos
Pubblicato in:
10th Hamlyn Symposium on Medical Robotics 2017, 2017, Pagina/e 51-52, ISBN 9780956377685
Editore:
The Hamlyn Centre, Faculty of Engineering, Imperial College London
DOI:
10.31256/hsmr2017.26
Autori:
Foti, S, Mariani, A, Chupi, T, Dall'Alba, D, Cheng, Z, Mattos, L, Caldwell, D, Fiorini, P, De Momi, E, Ferrigno, G
Pubblicato in:
proceeding of 8th joint workshop on New Technologies for Computer/Robot Assisted Surgery, 2018
Editore:
8th joint workshop on New Technologies for Computer/Robot Assisted Surgery
Autori:
Moccia, S, Foti, S, Rossi, SM, Rota, I, Scotti, M, Toffoli, S, Mattos, LS, De Momi, E, Frontoni, E
Pubblicato in:
CRAS Joint Workshop, 2018
Editore:
CRAS
Autori:
Vantadori, L, Mariani, A, Chupin, T, De Momi, E, Ferrigno, G
Pubblicato in:
CRAS Joint Workshop, 2018
Editore:
CRAS
Autori:
Hirenkumar Nakawala, Elena de Momi, Laura Erica Pescatori, Anna Morelli, Giancarlo Ferrigno
Pubblicato in:
2017 IEEE 30th International Symposium on Computer-Based Medical Systems (CBMS), 2017, Pagina/e 292-297, ISBN 978-1-5386-1710-6
Editore:
IEEE
DOI:
10.1109/CBMS.2017.91
Autori:
Tzemanaki, A, Abeywardena, S, Psompoulou, E, Melhuish, C, Dogramadzi, S
Pubblicato in:
CRAS Joint Workshop, 2018
Editore:
CRAS
Autori:
Sayyaddelshad, I, Psompoulou, E, Abeywadena, S, Tzemanaki, A, Dogramadzi, S
Pubblicato in:
CRAS Joint Workshop, 2018
Editore:
CRAS
Autori:
Kastritsi, T, Papageorgiou D, Doulgeri Z
Pubblicato in:
Control Conference (ECC), 2018, Pagina/e 622-627
Editore:
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Autori:
Georgia Peleka, Georgios Zampokas, Ioannis Mariolis, Sotiris Malasiotis, Dimitrios Tzovaras
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2018 IEEE International Conference on Imaging Systems and Techniques (IST), 2018, Pagina/e 1-6, ISBN 978-1-5386-6628-9
Editore:
Institute of Electrical and Electronics Engineers
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Autori:
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Pubblicato in:
IEEE ICRA Workshop on Supervised Autonomy in Surgical Robotics, Numero 1, 2018
Editore:
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Autori:
Kastritsi, Theodora; Sarantopoulos, Iason; Stavridis, Sotiris; Papageorgiou, Dimitrios; Doulgeri, Zoe
Pubblicato in:
XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019, Numero 8, 2019
Editore:
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10.5281/zenodo.3628312
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2019 18th European Control Conference (ECC), Numero 8, 2019
Editore:
Institute of Electrical and Electronics Engineers
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Autori:
Georgios Zampokas, Konstantinos Tsiolis, Georgia Peleka, Angeliki Topalidou-Kyniazopoulou, Ioannis Mariolis, Sotiris Malasiotis, Dimitrios Tzovaras
Pubblicato in:
XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, Numero 76, 2020, Pagina/e 1536-1544, ISBN 978-3-030-31634-1
Editore:
Springer International Publishing
DOI:
10.1007/978-3-030-31635-8_190
Autori:
Sajeeva Abeywardena, Efi Psomopoulou, Mohammad Fattahi Sani, Antonia Tzemanaki, Sanja Dogramadzi
Pubblicato in:
XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, Numero 76, 2020, Pagina/e 1545-1550, ISBN 978-3-030-31634-1
Editore:
Springer International Publishing
DOI:
10.1007/978-3-030-31635-8_191
Autori:
Mohammad Fattahi Sani, Sajeeva Abeywardena, Efi Psomopoulou, Raimondo Ascione, Sanja Dogramadzi
Pubblicato in:
XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, Numero 76, 2020, Pagina/e 1515-1525, ISBN 978-3-030-31634-1
Editore:
Springer International Publishing
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10.1007/978-3-030-31635-8_188
Autori:
Christos Papadopoulos, Angeliki Topalidou-Kyniazopoulou, Ioannis Mariolis, Aristotelis Sideridis, Emmanouel Papacostas, Dimitrios Tzovaras
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XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, Numero 76, 2020, Pagina/e 1581-1589, ISBN 978-3-030-31634-1
Editore:
Springer International Publishing
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10.1007/978-3-030-31635-8_195
Autori:
Efi Psomopoulou, Raj Persad, Anthony Koupparis, Sajeeva Abeywardena, Mohammad Fattahi Sani, Chris Melhuish, Sanja Dogramadzi
Pubblicato in:
XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, Numero 76, 2020, Pagina/e 1571-1580, ISBN 978-3-030-31634-1
Editore:
Springer International Publishing
DOI:
10.1007/978-3-030-31635-8_194
Autori:
Salih Ertug Ovur, Marisa Cobanaj, Luca Vantadori, Elena De Momi, Giancarlo Ferrigno
Pubblicato in:
XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, Numero 76, 2020, Pagina/e 1526-1535, ISBN 978-3-030-31634-1
Editore:
Springer International Publishing
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Autori:
Michele Catellani, Giovanni Cordima, Ottavio de Cobelli, Efthymios Papasoulis, Emmanuel Papacostas, Aristotelis Sideridis, Georgia Peleka, Georgios Zampokas, Konstantinos Tsiolis, Angeliki Topalidou-Kyniazopoulou, Ioannis Mariolis, Sotiris Malasiotis, Dimitrios Tzovaras
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XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, Numero 76, 2020, Pagina/e 1590-1595, ISBN 978-3-030-31634-1
Editore:
Springer International Publishing
DOI:
10.1007/978-3-030-31635-8_196
Autori:
Hirenkumar Nakawala, Elena De Momi, Roberto Bianchi, Michele Catellani, Ottavio De Cobelli, Pierre Jannin, Giancarlo Ferrigno, Paolo Fiorini
Pubblicato in:
XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, Numero 76, 2020, Pagina/e 1551-1558, ISBN 978-3-030-31634-1
Editore:
Springer International Publishing
DOI:
10.1007/978-3-030-31635-8_192
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