Autonomous Robotic Surgery

Project Information

ARS

Grant agreement ID: 742671

DOI

10.3030/742671

Project closed

EC signature date 12 July 2017

Start date 1 October 2017

End date 30 September 2023

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 2 750 000,00

EU contribution

€ 2 750 000,00

Coordinated by

UNIVERSITA DEGLI STUDI DI VERONA
Italy

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Peer reviewed articles (12)

Unsupervised Identification of Surgical Robotic Actions From Small Homogeneous Datasets

Author(s): Daniele Meli; Paolo Fiorini
Published in: Robotics and Automation Letters, Issue 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), Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 6/2, 2021, Page(s) 1856-1863, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3060655

Conference proceedings (15)

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, Issue 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., Issue 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, Issue 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, Issue 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, Issue 7, 2021
Publisher: IEEE
DOI: 10.1109/ismr48346.2021.9661573

Book chapters (1)

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, Issue 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

Other (7)

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