Smart Autonomous Robotic Assistant Surgeon

Resultado final

D7.2 Software/Hardware architecture for the MULTIROBOTS-SURGERY platform

The deliverable will consist of a detailed description of the SARAS architecture for the MULTIROBOTSSURGERY platform with particular attention to the integration of MultiMaster MultiSlave Bilateral Teleoperation architecture virtual fixtures force feedback and dedicated endeffectors for handling standard laparoscopic tools

D2.3 Thiel soft embalmed human cadaver model

The report will describe the preparation of the Thiel soft embalmed human cadaver models for partial nephrectomy and prostatectomy in terms of safety accuracy and reproducibility This model will be used to validate the LAPARO20SURGERY platform

D7.3 Software/Hardware architecture for the SOLO-SURGERY platform

A detailed description of the SARAS architecture for the SOLOSURGERY platform with a focus on the integration of the speech recognition cognitive control situation awareness online surgeon action recognition and hierarchical motion planner and the MultiRobot Cooperation Platform This deliverable will also report on the design of the last version of the endeffectors for handling standard laparoscopic tools

D2.2 Advanced phantom models

This report will describe the artificial phantom models with integrated pulsatile blood flow and respiratory motion The advanced phantom models will be used to evaluate the SOLOSURGERY platform

D7.4 Software/Hardware architecture for the LAPARO2.0-SURGERY platform

The deliverable will provide a detailed description of the SARAS architecture for the LAPARO20SURGERY platform with particular attention to the integration of visualacoustic feedback and vocal commands

D2.1 Patient specific based phantom models

The report will describe details of design reconstruction 3D modelling material selection and characterisation for providing a suitable abdomen platform These phantom models will be used with the MULTIROBOTSSURGERY platform to collect the data for training the perception and cognitive modules of WP5 and WP6

D4.5 Multi-Robot Cooperation Platform for the LAPARO2.0-SURGERY platform

This report will describe the implementation of the MultiRobot Cooperation Platform MRCP in the LAPARO20SURGERY platform

D3.1 Multi-modal human-robot interfaces and architecture for the MULTIROBOTS-SURGERY platform

This deliverable will describe the multimodal humanrobot interface for the assistant surgeon and the control architecture for the SARAS assistive robotic arms in the multimastermultislave teleoperated system including workload experiments with the MULTIROBOTSSURGERY platform

D5.1 3D modelling of anatomy and 3D registration

This deliverable will report on the set of tools for 3D modelling of anatomy and 3D registration from laparoscopic images and preoperative MRI images

D8.1 Plan for Communication actions

This deliverable will report the plan for the communication activities of the project

D1.2 Experimental tests and validation activities on the MULTIROBOTS-SURGERY platform

This document will present activities and results coming from Task 13 regarding the validation of the MULTIROBOTSSURGERY platform on the physical phantoms

D6.3 Prediction of future surgeon actions and decision making for LAPARO2.0-SURGERY

Development of the components dedicated to predicting future surgeon actions signal anomalous events and make decisions concerning the action to undertake in the LAPARO20SURGERY scenario

D6.1 Real-time surgeon action detection and recognition

Development of tools for surgeon action detection and recognition based on a novel deep learning architecture able to regress action tubes in real time from incoming videos

D3.2 Multi-modal human-robot interfaces and architecture for the SOLO-SURGERY platform

This deliverable will describe the enhancement of the da Vinci console for the main surgeon in terms of forcetactile feedback virtual fixtures interventional checklist and speech recognition Workload experiments with the SOLOSURGERY platform will be provided

D4.1 Tasks mapping

The actions performed by the assistant surgeon during the MULTIROBOTSSURGERY will be mathematically described and parameterized in order to be executed and adapted at run time by the SARAS assistive robotic arms

D8.4 Business Analysis

This deliverable will present market analysis business models and possibly a business plan for the outcomes of the project to be put in place after the end of SARAS

D8.2 Plan for Exploitation and Dissemination (Y1)

This deliverable will report the plan for the exploitation and dissemination activities at the end of the first year of the project

D5.3 Cognitive control for the SOLO-SURGERY platform

The main aspects of cognition in the control design of a surgical robot will be reported by integrating preoperative and intraoperative data together with the evaluation of the SOLOSURGERY platform

D5.4 Tracking of robot arms and deformable organs and tissue

This deliverable will report on the tools for tracking of robot arms and deformable organs and tissue within the laparoscopic cavity

D1.4 Experimental tests and validation activities on the LAPARO2.0-SURGERY platform

This document will present activities and results coming from Task 15 regarding the validation of the SARAS LAPARO20SURGERY platform on the Thiel soft embalmed human cadaver models

D6.2 Prediction of future surgeon actions and decision making policy for the SOLO-SURGERY system

Development of algorithms for best representing each surgical procedure estimating its current stage assessing anomalies and predicting its future evolution

D5.2 Labelling and segmentation tool

Interactive realtime semantic labelling and segmentation tools will be described and evaluated including online object detection and recognition

D4.3 Multi-Robot Cooperation Platform for the SOLO-SURGERY platform

This report will describe the implementation of the MultiRobot Cooperation Platform MRCP for Task Oriented Teleoperation in the SOLOSURGERY platform

D3.3 Human-robot interfaces for the LAPARO2.0-SURGERY platform

This deliverable will report on the humanrobot interface for the main surgeon using the SARAS system without the da Vinci robot but with an enhanced visual and verbal communication

D5.5 Cognitive control for the LAPARO2.0-SURGERY platform

This deliverable will report on the cognitive aspects of the control layer of standard MIS procedures with the SARAS LAPARO20SURGERY platform ie without the da Vinci robot

D4.2 Algorithms for robot motion planning in dynamic environments

This report will present the formal properties of the path planners and trajectory generators developed for the SOLOSURGERY platform on the basis of detailed simulations and data collected during the MULTIROBOTSSURGERY

D1.3 Experimental tests and validation activities on the SOLO-SURGERY platform

This document will present activities and results coming from Task 14 regarding the validation of the SARAS SOLOSURGERY platform on the advanced physical phantoms

D1.1 Requirements for surgical actions

This document will present the information obtained from the analysis performed for Task 11 and 12 including surgical knowledge task models and risk analysis

D8.5 Report on legal issues and certification procedures

This deliverable will report on laws and certification procedures to be applied for exploiting the results and technologies developed during SARAS after the end of the project

D8.3 Plan for Exploitation and Dissemination (Y2)

This deliverable will report the results of the exploitation and dissemination activities at the end of the second year of the project

D4.4 Implementation and verification of motion planning system

This report will describe the advanced features of the final software realization of the motion planner for the SOLOSURGERY and LAPARO20SURGERY platforms

D9.6 Data Management Plan

A Data Management Plan DMP will be produced at month 6 and updated whenever necessary new data sets changes in consortium policies or external factors but at least once a year

Publicaciones

A First Evaluation of a Multi-Modal Learning System to Control Surgical Assistant Robots via Action Segmentation

Autores: Giacomo De Rossi, Marco Minelli, Serena Roin, Fabio Falezza, Alessio Sozzi, Federica Ferraguti, Francesco Setti, Marcello Bonfé, Christian Secchi, Riccardo Muradore
Publicado en: IEEE Transactions on Medical Robotics and Bionics, 2021, ISSN 2576-3202
Editor: IEEE
DOI: 10.1109/tmrb.2021.3082210

Technical and Functional Validation of a Teleoperated Multirobots Platform for Minimally Invasive Surgery

Autores: Alice Leporini, Elettra Oleari, Carmela Landolfo, Alberto Sanna, Alessandro Larcher, Giorgio Gandaglia, Nicola Fossati, Fabio Muttin, Umberto Capitanio, Francesco Montorsi, Andrea Salonia, Marco Minelli, Federica Ferraguti, Cristian Secchi, Saverio Farsoni, Alessio Sozzi, Marcello Bonf`e, Narcis Sayols, Albert Hernansanz, Alicia Casals, Sabine Hertle, Fabio Cuzzolin, Andrew Dennison, Andreas Melze
Publicado en: IEEE Transactions on Medical Robotics and Bionics, 2020, Página(s) 148 - 156, ISSN 2576-3202
Editor: IEEE
DOI: 10.1109/tmrb.2020.2990286

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

Autores: Fabio Falezza, Nicola Piccinelli, Giacomo De Rossi, Andrea Roberti, Gernot Kronreif, Francesco Setti, Paolo Fiorini, Riccardo Muradore
Publicado en: IEEE Transactions on Medical Robotics and Bionics, 2021, ISSN 2576-3202
Editor: IEEE
DOI: 10.1109/tmrb.2021.3110676

Dynamic Motion Planning for Autonomous Assistive Surgical Robots

Autores: Alessio Sozzi, Marcello Bonfè, Saverio Farsoni, Giacomo De Rossi, Riccardo Muradore
Publicado en: Electronics, 2019, ISSN 2079-9292
Editor: MDPI
DOI: 10.3390/electronics8090957

Improving Rigid 3-D Calibration for Robotic Surgery

Autores: Andrea Roberti, Nicola Piccinelli, Daniele Meli, Riccardo Muradore, Paolo Fiorini
Publicado en: IEEE Transactions on Medical Robotics and Bionics, 2020, ISSN 2576-3202
Editor: IEEE
DOI: 10.1109/tmrb.2020.3033670

Unsupervised Anomaly Detection for a Smart Autonomous Robotic Assistant Surgeon (SARAS) Using a Deep Residual Autoencoder

Autores: Dinesh Jackson Samuel, Fabio Cuzzolin
Publicado en: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3097244

A supervisory controller for semi-autonomous surgical interventions

Autores: Fabio Falezza, Nicola Piccinelli, Andrea Roberti, Francesco Setti, Riccardo Muradore, Paolo Fiorini
Publicado en: Proceedings of the 10th Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS 2020), 2020
Editor: Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS 2020)

Integrating Model Predictive Control and Dynamic Waypoints Generation for Motion Planning in Surgical Scenario

Autores: Marco Minelli, Alessio Sozzi, Giacomo De Rossi, Federica Ferraguti, Francesco Setti, Riccardo Muradore, Marcello Bonfè, Cristian Secchi
Publicado en: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Editor: IEEE
DOI: 10.1109/iros45743.2020.9341673

A Multi-Modal Learning System for On-Line Surgical Action Segmentation

Autores: Giacomo De Rossi, Serena Roin, Francesco Setti, Riccardo Muradore
Publicado en: 2020 International Symposium on Medical Robotics (ISMR), 2020
Editor: IEEE
DOI: 10.1109/ismr48331.2020.9312950

Cognitive Robotic Architecture for Semi-Autonomuos Execution of Manipulation Tasks in a Surgical Environment

Autores: Giacomo De Rossi, Marco Minelli, Alessio Sozzi, Nicola Piccinelli, Federica Ferraguti, Francesco Setti, Marcello Bonfé, Christian Secchi, Riccardo Muradore
Publicado en: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Editor: IEEE
DOI: 10.1109/iros40897.2019.8967667

A hFSM based cognitive control architecture for assistive task in R-MIS, 10th Conference on New Technologies for Computer and Robot Assisted Surgery

Autores: Narcís Sayols, Alessio Sozzi, Nicola Piccinelli, Albert Hernansanz, Alicia Casals, Marcello Bonfè, Riccardo Muradore
Publicado en: Proceedings of the 10th Conference on New Technologies for Computer/Robot Assisted Surgery, 2020
Editor: CRAS 2020

Surgical Hand Gesture Prediction for the Operating Room

Autores: Inna Skarga-Bandurova, Rostislav Siriak, Tetiana Biloborodova, Fabio Cuzzolin, Vivek Singh Bawa, Mohamed Ibrahim Mohamed, R. Dinesh Jackson Samuel
Publicado en: Studies in Health Technology and Informatics, 2020, Página(s) 97-103, ISBN 978-1-64368-113-9
Editor: IOS press
DOI: 10.3233/shti200621

Bitrack: a friendly four arms robot for laparoscopic surgery

Autores: Josep Amat, Alícia Casals, Manel Frigola
Publicado en: Proceedings of the 10th Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS 2020), 2020
Editor: Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS 2020)

Assistance Strategies for Robotized Laparoscopy

Autores: Alicia Casals, Albert Hernansanz, Narcís Sayols, Josep Amat
Publicado en: Robot 2019: Fourth Iberian Robotics Conference, 2019, Página(s) 485-496
Editor: Springer, Cham
DOI: 10.1007/978-3-030-36150-1_40

Multi-task control strategy exploiting redundancy in R-MIS

Autores: Tomàs Pieras, Albert Hernansanz, Narcís Sayols, Johanna Parra, Elisenda Eixarch,Eduard Gratacós, Alícia Casals
Publicado en: Proceedings of the 10th Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS 2020), 2020
Editor: CRAS 2020

A Multirobots Teleoperated Platform for Artificial Intelligence Training Data Collection in Minimally Invasive Surgery

Autores: Francesco Setti, Elettra Oleari, Alice Leporini, Diana Trojaniello, Alberto Sanna, Umberto Capitanio, Francesco Montorsi, Andrea Salonia, Riccardo Muradore
Publicado en: 2019 International Symposium on Medical Robotics (ISMR), 2019, Página(s) 1-7, ISBN 978-1-5386-7825-1
Editor: IEEE
DOI: 10.1109/ismr.2019.8710209

Energy-Shared Two-Layer Approach for Multi-Master-Multi-Slave Bilateral Teleoperation Systems

Autores: Marco Minelli, Federica Ferraguti, Nicola Piccinelli, Riccardo Muradore, Cristian Secchi
Publicado en: The International Conference on Robotics and Automation (ICRA 2019), 2019
Editor: IEEE

Enhancing Surgical Process Modeling for Artificial Intelligence development in robotics: the SARAS case study for Minimally Invasive Procedures

Autores: Elettra Oleari, Alice Leporini, Diana Trojaniello, Alberto Sanna, Umberto Capitanio, Federico Deho, Alessandro Larcher, Francesco Montorsi, Andrea Salonia, Francesco Setti, Riccardo Muradore
Publicado en: 2019 13th International Symposium on Medical Information and Communication Technology (ISMICT), 2019, Página(s) 1-6, ISBN 978-1-7281-2342-4
Editor: IEEE
DOI: 10.1109/ismict.2019.8743931

An Energy Saving Approach to Active Object Recognition and Localization

Autores: Andrea Roberti, Riccardo Muradore, Paolo Fiorini, Marco Cristani, Francesco Setti
Publicado en: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018, Página(s) 3153-3158, ISBN 978-1-5090-6684-1
Editor: IEEE
DOI: 10.1109/iecon.2018.8591411

Tele-Echography Using a Two-Layer Teleoperation Algorithm with Energy Scaling

Autores: Enrico Sartori, Carlo Tadiello, Cristian Secchi, Riccardo Muradore
Publicado en: Proceedings of the International Conference of Robotics and Automation, 2019
Editor: ICRA 2019
DOI: 10.5281/zenodo.3362881

Estimation of Interaction Forces in Robotic Surgery using a Semi-Supervised Deep Neural Network Model

Autores: Arturo Marban, Vignesh Srinivasan, Wojciech Samek, Josep Fernandez, Alicia Casals
Publicado en: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Página(s) 761-768, ISBN 978-1-5386-8094-0
Editor: IEEE
DOI: 10.1109/IROS.2018.8593701

Predicting action tubes

Autores: Gurkirt Singh,; Suman Saha; Fabio Cuzzolin
Publicado en: ECCV 2018 Workshop on Anticipating Human Behaviour (AHB 2018), Munich, Germany, Sep 2018, Edición 1, 2018
Editor: ECCV
DOI: 10.5281/zenodo.3362942

Incremental Tube Construction for Human Action Detection

Autores: Harkirat S. Behl; Michael Sapienza; Gurkirt Sing; Suman Saha; Fabio Cuzzolin; Philip H. S. Torr
Publicado en: Proceedings of the British Machine Vision Conference, Edición na, 2019
Editor: BMVC 2018
DOI: 10.5281/zenodo.3362933

Recognition self-awareness for active object recognition on depth images

Autores: Andrea Roberti; Marco Carletti; Francesco Setti; Umberto Castellani; Marco Cristani; Paolo Fiorini
Publicado en: Proceedings of the British Machine Vision Conference, 2018
Editor: BMVC 2018
DOI: 10.5281/zenodo.3362923

A physical/virtual anatomical platform for hysteroscopy training

Autores: Albert Hernansanz; R. Martinez; R. Rovira; Alicia Casals
Publicado en: Proceedings of Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), Edición 1, 2019
Editor: CRAS
DOI: 10.5281/zenodo.3373297

Sentisim: a hybrid training platform for sinb in local melanoma staging

Autores: Hernansanz, A, Pieras, T, Ferrandiz, L, Moreno,D, Casals, A.
Publicado en: Proceedings of Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), 2019
Editor: CRAS
DOI: 10.5281/zenodo.3373320

TraMNet - Transition Matrix Network for Efficient Action Tube Proposals

Autores: Gurkirt Singh, Suman Saha, Fabio Cuzzolin
Publicado en: Computer Vision – ACCV 2018 - 14th Asian Conference on Computer Vision, Perth, Australia, December 2–6, 2018, Revised Selected Papers, Part VI, Edición 11366, 2019, Página(s) 420-437, ISBN 978-3-030-20875-2
Editor: Springer International Publishing
DOI: 10.1007/978-3-030-20876-9_27

Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for autonomous surgical robots

Autores: Narcís Sayols, Alessio Sozzi, Nicola Piccinelli, Albert Hernansanz, Alicia Casals, Marcello Bonfè, Riccardo Muradore,
Publicado en: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, ISBN 978-1-7281-7395-5
Editor: IEEE
DOI: 10.1109/icra40945.2020.9197525

SVD-GAN for Real-Time Unsupervised Video Anomaly Detection

Autores: Dinesh Jackson Samuel, Fabio Cuzzolin
Publicado en: British Machine Vision Conference (BMVC 2021), 2021
Editor: British Machine Vision Conference (BMVC 2021)

Vision Based Robot Assistance in TTTS Fetal Surgery

Autores: Narcís Sayols, Albert Hernansanz, Johanna Parra, Elisenda Eixarch, Eduard Gratacós, Josep Amat, Alícia Casals.
Publicado en: 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019
Editor: IEEE
DOI: 10.1109/embc.2019.8856402

Rigid 3D Registration of Pre-operative Information for Semi-Autonomous Surgery

Autores: Nicola Piccinelli, Andrea Roberti, Eleonora Tagliabue, Francesco Setti, Gernot Kronreif, Riccardo Muradore, Paolo Fiorini
Publicado en: 2020 International Symposium on Medical Robotics (ISMR), 2020
Editor: IEEE
DOI: 10.1109/ismr48331.2020.9312949

Spatiotemporal Deformable Scene Graphs for Complex Activity Detection

Autores: Salman Khan, Fabio Cuzzolin
Publicado en: The 32nd British Machine Vision Conference, 2021
Editor: British Machine Vision Conference (BMVC 2021)

A Passivity-Based Bilateral Teleoperation Architecture using Distributed Nonlinear Model Predictive Control

Autores: Nicola Piccinelli, Riccardo Muradore
Publicado en: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Editor: IEEE
DOI: 10.1109/iros45743.2020.9341048

Guest Editorial CRAS—Joining Efforts, Progressing Faster

Autores: Alicia Casals, Arianna Menciassi, Emmanuel vabder Porten, Albert Hernansanz
Publicado en: IEEE Transactions on Medical Robotics and Bionics, 2021, ISSN 2576-3202
Editor: IEEE
DOI: 10.1109/tmrb.2021.3124005

ESAD: Endoscopic Surgeon Action Detection Dataset

Autores: V. Singh Bawa, G. Singh, F. Kaping’A, I. Skarga-Bandurova, A. Leporini, C. Landolfo, A. Stabile, F. Setti, R. Muradore, E. Oleari, F. Cuzzolin
Publicado en: 2020
Editor: arXiv
DOI: 10.48550/arxiv.2006.07164

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