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Autonomous Robotic Surgery

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Publications

Unsupervised Identification of Surgical Robotic Actions From Small Homogeneous Datasets

Author(s): Daniele Meli; Paolo Fiorini
Published in: Robotics and Automation Letters, 3, 2021, ISSN 2377-3774
Publisher: IEEE
DOI: 10.1109/lra.2021.3104880

Modeling of Surgical Procedures Using Statecharts for Semi-Autonomous Robotic Surgery

Author(s): Falezza, Fabio; Piccinelli, Nicola; De Rossi, Giacomo; Roberti, Andrea; Kronreif, Gernot; Setti, Francesco; Fiorini, Paolo; Muradore, Riccardo; Falezza, Fabio
Published in: IEEE Transactions on Medical Robotics and Bionics (special issue for Hamlyn Symposium on Medical Robotics 2020), 6, 2021, ISSN 2576-3202
Publisher: IEEE
DOI: 10.1109/tmrb.2021.3110676

Overcoming some drawbacks of Dynamic Movement Primitives

Author(s): Michele Ginesi; Nicola Sansonetto; Paolo Fiorini
Published in: Robotics and Autonomous Systems, 10, 2021, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2021.103844

Automatic detection of procedural knowledge in robotic-assisted surgical texts

Author(s): Bombieri, Marco; Rospocher, Marco; Dall' Alba, Diego; Fiorini, Paolo
Published in: International Journal of Computer Assisted Radiology and Surgery, 8, 2021, ISSN 0967-0912
Publisher: Institute of Materials
DOI: 10.1007/s11548-021-02370-9

Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions

Author(s): Michele Ginesi; Daniele Meli; Andrea Roberti; Nicola Sansonetto; Paolo Fiorini
Published in: Journal of Intelligent & Robotic Systems, 6, 2021, ISSN 1573-0409
Publisher: Springer
DOI: 10.1007/s10846-021-01344-y

Position-based modeling of lesion displacement in ultrasound-guided breast biopsy.

Author(s): Tagliabue, Eleonora; Dall' Alba, Diego; Magnabosco, Enrico; Tenga, Chiara; Peterlik, Igor; Fiorini, Paolo
Published in: EISSN: 1861-6429, 12, 2019, ISSN 1861-6410
Publisher: Springer Verlag
DOI: 10.1007/s11548-019-01997-z

Towards inductive learning of surgical task knowledge: a preliminary case study of the peg transfer task

Author(s): Daniele Meli, Paolo Fiorini, Mohan Sridharan
Published in: Procedia Computer Science, 176, 2020, Page(s) 440-449, ISSN 1877-0509
Publisher: Procedia Computer Science
DOI: 10.1016/j.procs.2020.08.046

Inductive learning of answer set programs for autonomous surgical task planning - application to a training task for surgeons

Author(s): Meli Daniele, Sridharan Mohan, Fiorini Paolo
Published in: Machine Learning, 2021, ISSN 1573-0565
Publisher: Springer
DOI: 10.1007/s10994-021-06013-7

Improving rigid 3D calibration for robotic surgery

Author(s): Andrea Roberti, Nicola Piccinelli, Daniele Meli, Riccardo Muradore, Paolo Fiorini
Published in: IEEE Transactions on Medical Robotics and Bionics, 2020, Page(s) 1-1, ISSN 2576-3202
Publisher: IEEE Transactions on Medical Robotics and Bionics
DOI: 10.1109/tmrb.2020.3033670

Design and Integration of Electrical Bio-impedance Sensing in Surgical Robotic Tools for Tissue Identification and Display

Author(s): Zhuoqi Cheng, Diego Dall'Alba, Simone Foti, Andrea Mariani, Thibaud Chupin, Darwin G. Caldwell, Giancarlo Ferrigno, Elena De Momi, Leonardo S. Mattos, Paolo Fiorini
Published in: Frontiers in Robotics and AI, 6, 2019, ISSN 2296-9144
Publisher: Frontiers Media S.A.
DOI: 10.3389/frobt.2019.00055

Biomechanical modelling of probe to tissue interaction during ultrasound scanning

Author(s): Eleonora Tagliabue, Diego Dall’Alba, Enrico Magnabosco, Igor Peterlik, Paolo Fiorini
Published in: International Journal of Computer Assisted Radiology and Surgery, 2020, ISSN 1861-6410
Publisher: Springer Verlag
DOI: 10.1007/s11548-020-02183-2

Data-Driven Intra-Operative Estimation of Anatomical Attachments for Autonomous Tissue Dissection

Author(s): Eleonora Tagliabue, Diego Dall'Alba, Micha Pfeiffer, Marco Piccinelli, Riccardo Marin, Umberto Castellani, Stefanie Speidel, Paolo Fiorini
Published in: IEEE Robotics and Automation Letters, 6/2, 2021, Page(s) 1856-1863, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3060655

Soft Tissue Simulation Environment to Learn Manipulation Tasks in Autonomous Robotic Surgery

Author(s): Tagliabue, Eleonora; Pore, Ameya Ravindra; Dall' Alba, Diego; Magnabosco, Enrico; Piccinelli, Marco; Fiorini, Paolo
Published in: IROS, 13, 2020
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341710

Intra-Operative Update of Boundary Condition for Patient-Specific Surgical Simulation

Author(s): Eleonora Tagliabue, Marco Piccinelli, Diego Dall’Alba, Juan Verde, Micha Pfeiffer, Riccardo Marin, Stefanie Speidel, Paolo Fiorini and Stephane Cotin
Published in: Lecture Notes in Computer Science, vol 12904. Springer, Cham., 21/09/2021, 2021
Publisher: Springer
DOI: 10.1007/978-3-030-87202-1_36

A Time-of-Flight Stereoscopic Endoscope for Anatomical 3D Reconstruction

Author(s): Andrea Roberti, Nicola Piccinelli, Fabio Falezza, Giacomo De Rossi, Stefano Bonora, Francesco Setti, Paolo Fiorini, Riccardo Muradore
Published in: 2021
Publisher: IEEE
DOI: 10.1109/ismr48346.2021.9661478

The EU Proposal for Regulating AI: Foreseeable Impact on Medical Robotics

Author(s): Maria-Camilla Fiazza
Published in: Crossref, 7, 2022
Publisher: IEEE
DOI: 10.1109/icar53236.2021.9659429

UnityFlexML: Training Reinforcement Learning Agents in a Simulated Surgical Environment

Author(s): Eleonora Tagliabue, Ameya Pore, Diego Dall’Alba, Marco Piccinelli and Paolo Fiorini
Published in: IRIM 2020 conference proceedings, 2020
Publisher: IRIM 2020 conference proceedings

Design for Interpretability: Meeting the Certification Challenge for Surgical Robots

Author(s): Maria-Camilla Fiazza; Paolo Fiorini
Published in: ISR, 2, 2021
Publisher: IEEE
DOI: 10.1109/isr50024.2021.9419378

Learning from Demonstrations for Autonomous Soft-tissue Retraction

Author(s): Amey Pore, Eleonora Tagliabue, Marco Piccinelli, Diego Dall'Alba, Alicia Casals, Paolo Fiorini.
Published in: ISMR2021, 2021, ISBN 978-1-6654-0622-2
Publisher: IEEE
DOI: 10.1109/ismr48346.2021.9661514

Surgical gesture recognition with time delay neural network based on kinematic data

Author(s): Giovanni Menegozzo, Diego DallrAlba, Chiara Zandona, Paolo Fiorini
Published in: 2019 International Symposium on Medical Robotics (ISMR), 2019, Page(s) 1-7, ISBN 978-1-5386-7825-1
Publisher: IEEE
DOI: 10.1109/ismr.2019.8710178

Automatic process modeling with time delay neural network based on low-level data

Author(s): Menegozzo G., Dall'Alba D., Roberti A., Fiorini P.
Published in: 29th International Conference on Flexible Automation and Intelligent Manufacturing, 2019
Publisher: 29th International Conference on Flexible Automation and Intelligent Manufacturing

Approaches for Action Sequence Representation in Robotics: A Review

Author(s): Hirenkumar Nakawala, Paulo J. S. Goncalves, Paolo Fiorini, Giancarlo Ferringo, Elena De Momi
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 5666-5671, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8594256

Dynamic Movement Primitives: Volumetric Obstacle Avoidance

Author(s): Michele Ginesi, Daniele Meli, Andrea Calanca, Diego Dall'Alba, Nicola Sansonetto, Paolo Fiorini
Published in: 2019 19th International Conference on Advanced Robotics (ICAR), 2019, Page(s) 234-239, ISBN 978-1-7281-2467-4
Publisher: IEEE
DOI: 10.1109/icar46387.2019.8981552

"""Position-based simulation of deformations for autonomous robotic ultrasound scanning."""

Author(s): Tagliabue E, Dall’Alba D, Magnabosco E, Tenga C, Peterlik I, Courtecouisse H, Fiorini P
Published in: I-RIM Conference, 2019
Publisher: I-RIM Conference

Physics-based Deep Neural Network for Real-Time Lesion Tracking in Ultrasound-guided Breast Biopsy

Author(s): Mendizabal A, Tagliabue E, Brunet J, Dall’Alba D, Fiorini P, Cotin S
Published in: Computational Biomechanics for Medicine XIV, 2019
Publisher: Computational biomechanics for medicine workshop at MICCAI

A knowledge-based framework for task automation in surgery

Author(s): Michele Ginesi, Daniele Meli, Hirenkumar Nakawala, Andrea Roberti, Paolo Fiorini
Published in: 2019 19th International Conference on Advanced Robotics (ICAR), 2019, Page(s) 37-42, ISBN 978-1-7281-2467-4
Publisher: IEEE
DOI: 10.1109/icar46387.2019.8981619

Autonomous tissue retraction with a biomechanically informed logic based framework

Author(s): Meli, D.; Tagliabue, E.; Dall'Alba, D.; Fiorini, P.
Published in: Crossref, 7, 2021
Publisher: IEEE
DOI: 10.1109/ismr48346.2021.9661573

Autonomous task planning and situation awareness in robotic surgery

Author(s): Michele Ginesi; Daniele Meli; Andrea Roberti; Nicola Sansonetto; Paolo Fiorini
Published in: IROS, 3, 2020
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341382

Toward a Neural-Symbolic Framework for Automated Workflow Analysis in Surgery

Author(s): Hirenkumar Nakawala, Elena De Momi, Roberto Bianchi, Michele Catellani, Ottavio De Cobelli, Pierre Jannin, Giancarlo Ferrigno, Paolo Fiorini
Published in: XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019, September 26-28, 2019, Coimbra, Portugal, 76, 2020, Page(s) 1551-1558, ISBN 978-3-030-31634-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31635-8_192

Advanced User Interface for Augmented Information Display on Endoscopic Surgical Images

Author(s): S. Foti, A. Mariani, T. Chupin, D. Dall'Alba, Z. Cheng, L. Mattos, D. Caldwell, P. Fiorini, E. De Momi and G. Ferrigno
Published in: 8th joint workshop on New Technologies for Computer/Robot Assisted Surgery, 2018
Publisher: 8th joint workshop on New Technologies for Computer/Robot Assisted Surgery

Robotically assisted electrical bio-impedance measurements for soft tissue characterization: a feasibility study

Author(s): Kim L Schwaner, Diego Dall Alba, Zhuoqi Cheng, Leonardo S Mattos, Paolo Fiorini, Thiusius R Savarimuthu
Published in: The Hamlyn Symposium on Medical Robotics, 2019, Page(s) 31-32
Publisher: The Hamlyn Centre, Faculty of Engineering, Imperial College London
DOI: 10.31256/hsmr2019.16

Design and integration of electrical bio-impedance sensing in surgical robotic tools for tissue identification

Author(s): Z. Cheng, D. Dall'Alba, S. Foti, A. Mariani, T. Chupin, D. Caldwell, P. Fiorini, E. De Momi, G. Ferrigno and L. Mattos
Published in: 8th joint workshop on New Technologies for Computer/Robot Assisted Surgery, 2018
Publisher: 8th joint workshop on New Technologies for Computer/Robot Assisted Surgery

Real-time prediction of breast lesions displacement during Ultrasound scanning using a position-based dynamics approach

Author(s): D Dall Alba, E Tagliabue, E Magnabosco, C Tenga, P Fiorini
Published in: The Hamlyn Symposium on Medical Robotics, 2019, Page(s) 27-28
Publisher: The Hamlyn Centre, Faculty of Engineering, Imperial College London
DOI: 10.31256/hsmr2019.14

A position-based framework for the prediction of probe-induced lesion displacement in Ultrasound-guided breast biopsy

Author(s): Tagliabue E, Dall’Alba D, Magnabosco E, Tenga C, Fiorini P
Published in: 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (2019), 2019
Publisher: 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (2019

Surgical Gesture and Error Recognition with Time Delay Neural Network on Kinematic Data

Author(s): G. Menegozzo, D. Dall’Alba, C. Zandona and P. Fiorini
Published in: 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (2019), 2019
Publisher: 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (2019)

Challenges of Autonomous Robotic Surgery

Author(s): P Fiorini, D Dall Alba, M Ginesi, B Maris, D Meli, H Nakawala, A Roberti
Published in: The Hamlyn Symposium on Medical Robotics, 2019, Page(s) 105-106
Publisher: The Hamlyn Centre, Faculty of Engineering, Imperial College London
DOI: 10.31256/hsmr2019.53