AuTonomous intraLuminAl Surgery

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 .

Deliverables

Distributed interaction control for continuum robots

proof-of-principle of robust low-level distributed control of active scopes and catheters in interaction with a deformable surrounding

Data Management Plan

this report describes the data management life cycle for the collected data and the actions to make such data findable, accessible, interoperable and reusable.

Best integration practices

course material for integrating complex robotic systems

Report on the awarding of degrees

progress report and planning of the doctoral degree awarding

Communication plan and infrastructure

report on the means, the targets and the project dissemination plan

Surgical workflow of intraluminal interventions

report on the workflow of C1-C3.

Generic techniques for 4D lumen reconstruction

update of D31 including timedependency

Dissemination activity report 1

summary of dissemination and communication activities to the respective audiences.

ATLAS Training Guide - ATG

the guide is a concise reference book summarizing the project objectives, introducing the different beneficiaries and their tasks, listing the most relevant references to technical, scientific, dissemination, exploitation knowledge and providing an overview of the training that is offered to ATLAS ESRs.

Generic techniques for 3D lumen reconstruction

description of methods for simultaneous localisation and geometric reconstruction of a surrounding lumen.

Evaluation summary report 2

summarizes user appreciation of ATLAS technology

Robo-ethics, social and regulatory aspects in automating surgery

report on identified ethical, social, and regulatory aspects and guidelines for positioning and explaining the work done in ATLAS to the general public.

Advanced actuation for multi-steerable flexible catheters and flexible scopes

detailed report describing developments of ESR1, ESR12 and ESR2 and the integration in colonoscopes, ureteroscopes and/or catheters.

Autonomous navigation through complex lumens

novel methods for planning and decision making to autonomously steer soft robots through complex tubular anatomic structures

Comprehensive proprioception for soft robots

report on proprioceptive sensing schemes for C1-C3.

Assessment of the training programme 2

the training programme is defined and assessed yearly

Report on selection procedures

the procedures for selection after the approval by the SB

State-of-the-art shape sensing for flexible instruments

summarizes the s.o.a. in this field.

Assessment of the training programme 3

the training programme is defined and assessed yearly

Supervisory board reports 3

summary of SB meetings and action plan

Dissemination activity report 3

summary of dissemination and communication activities to the respective audiences

Project progress report 4

report summarizing the projects progress

Assessment of the training programme 1

the training programme is defined and assessed yearly.

S.o.a and value analysis of soft robot drive technology

survey of the s.o.a. and analysis of suitability of the different technologies for the envisioned ATLAS surgical scenarios.

Project progress report 3

report summarizing the projects progress

Supervisory board reports 1

summary of SB meetings and action plan.

Supervisory board reports 4

summary of SB meetings and action plan

Agreement to joint/double/multiple doctoral degree

this deliverable includes the formal agreement of the joint or double doctoral degree programmes, a list of recruited ESRs and assigned projects and the Researchers Declarations of Conformity

Supervisory board reports 2

summary of SB meetings and action plan.

Evaluation summary report 1

summarizes user appreciation of ATLAS technology.

Project progress report 2

report summarizing the project’s progress.

Supervisory Board of the network

Definition of the Supervisory Board.

Dissemination activity report 2

summary of dissemination and communication activities to the respective audiences

Statistical modelling for classification of tissue and tool-tissue interaction

summarizes the novel techniques that are developed and tested to automatically detect tissue type and state from raw multimodal data

System specifications for targeted intraluminal interventions

in accordance with the medical device directive the classification and specification of the targeted assistive technology are drafted for each scenario.

Project Handbook

overview of the governing structure and contact persons, guide for management, training and implementation of the project.

Project progress report 1

report summarizing the project’s progress.

Best practices in clinical data-gathering

a step-by-step guide for clinical data gathering.

V-models and V-mock-ups

overview and recipes for verifying intraluminal navigation.

Assessment of the training programme 4

the training programme is defined and assessed yearly

Planning and re-planning navigation paths for intraluminal navigation

this deliverable reports on path planning techniques directed to optimize situational awareness and manipulability

Advertisement of vacancies

all vacancies are announced on the website and other channels.

Demonstration of exteroceptive skills of soft robots

showcases exteroceptive skills for C1-C3.

Demonstrator of an autonomous catheter

showcase of the developed autonomous system.

Demonstrator of an autonomous ureteroscope

Showcase of developed system

Demonstrator of an autonomous colonoscope

showcase of the developed autonomous system.

Surgical episode segmentation techniques

segmentation techniques for identifying surgical episodes in intraluminal interventions.

Open Access to ATLAS data

report on open data in line with ATLAS regulations

Publications

Characterization of a soft magnetic catheter controlled by a permanent magnet

Author(s): Mohammad Hasan Dad Ansari, Xuan Thao Ha, Mouloud Ourak, Veronica Iacovacci, Gianni Borghesan,Emmanuel Vander Poorten, Arianna Menciassi
Published in: ACTUATOR 2022 - International Conference and Exhibition on New Actuator Systems and Applications, 2022
Publisher: ACTUATOR

Constraint-Based Control of a Distally Actuated Continuum Robot

Author(s): Beatriz Farola Barata, Gianni Borghesan, Diego Dall’Alba, Jos Vander Sloten, Emmanuel Vander Poorten
Published in: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), Issue 28-30/09/2020, 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

Joints-Space Metrics for Automatic Robotic Surgical Gestures Classification

Author(s): Marco Bombieri, Diego Dall'Alba, Sanat Ramesh, Giovanni Menegozzo, Caitlin Schneider, Paolo Fiorini
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341094

Compliant Motion Control of Robotic Catheter based on Long-Short Term Memory Network

Author(s): Mouloud Ourak , Di Wu , Xuan Thao HA , E. Vander Poorten
Published in: 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2022
Publisher: CRAS

Development of a resistive-based sensor for real time shape detection of a springbased flexible manipulator

Author(s): Sujit Kumar Sahu, Izadyar Tamadon, Benoit Rosa, Pierre Renaud, and Arianna Menciassi
Published in: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

Towards Hierarchical Task Decomposition using Deep Reinforcement Learning for Pick and Place Subtasks

Author(s): Luca Marzari; Ameya Pore; Diego Dall'Alba; Gerardo Aragon-Camarasa; Alessandro Farinelli; Paolo Fiorini
Published in: 20th International Conference on Advanced Robotics (ICAR), Issue 1, 2021
Publisher: IEEE
DOI: 10.48550/arxiv.2102.04022

Learning from Demonstrations for Autonomous Soft-tissue Retraction*Learning from Demonstrations for Autonomous Soft-tissue Retraction

Author(s): Ameya Pore , Eleonora Tagliabue , Marco Piccinelli , Diego Dall’Alba , Alicia Casals , Paolo Fiorini
Published in: International Symposium on Medical Robotics (ISMR), 2022
Publisher: ISMR

A Lumen Segmentation Method in Ureteroscopy Images based on a Deep Residual U-Net architecture

Author(s): Jorge F. Lazo, Aldo Marzullo, Sara Moccia, Michele Catellani, Benoit Rosa, Francesco Calimeri, Michel de Mathelin, Elena De Momi
Published in: 2020 25th International Conference on Pattern Recognition (ICPR), 2021, Page(s) 9203-9210, ISBN 978-1-7281-8808-9
Publisher: IEEE
DOI: 10.1109/icpr48806.2021.9411924

Model-to-Image Registration via Deep Learning towards Image-Guided Endovascular Interventions

Author(s): Zhen Li, Maria Elisabetta Mancini, Giovanni Monizzi, Daniele Andreini, Giancarlo Ferrigno, Jenny Dankelman, Elena De Momi
Published in: 2021 International Symposium on Medical Robotics (ISMR), 2021, ISBN 978-1-6654-0622-2
Publisher: IEEE
DOI: 10.1109/ismr48346.2021.9661511

Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing

Author(s): Jorge F Lazo, Chun-Feng Lai, Sara Moccia, Benoiurt Rosa, Michele Catellani, Michel Mathelin, Giancarlo Ferrigno, Paul Breedveld, Jenny Dankelman, Elena De Momi
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9982141

A Heuristic-Sliding-Window-based RRT PathPlanning for Endovascular Catheterization

Author(s): Zhen Li, Alice Segato, Alberto Favaro, Jenny Dankelman and Elena De Momi
Published in: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

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

Author(s): Eleonora Tagliabue, Ameya Pore, Diego Dall'Alba, Enrico Magnabosco, Marco Piccinelli, Paolo Fiorini
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 3261-3266, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341710

Rotational distortion compensation with deep learning for proximal-scanning endoscopic optical coherence tomography

Author(s): Guiqiu Liao, Oscar Caravaca Mora, Philippe Zanne, Benoit Rosa, Diego Dall'Alba, Paolo Fiorini, Michel de Mathelin, Florent Nageotte, Michalina Gora
Published in: Proceedings Volume 11620, Endoscopic Microscopy XVI, 2021
Publisher: SPIE BiOS
DOI: 10.1117/12.2576882

Segmentation of Lumen in Ureteroscopy Imagesusing Deep Learning

Author(s): Jorge F. Lazo, Aldo Marzullo, Sara Moccia, Benoit Rosa, Elena De Momi
Published in: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

Coordinates encoding networks: an image segmentation architecture for side-viewing catheters

Author(s): Guiqiu Liao, Beatriz B. Farola Barata, Oscar Caravaca Mora, Philippe Zanne, Benoit Rosa, Diego Dall’Alba, Paolo Fiorini, Michel de Mathelin, Florent Nageotte, Michalina J. Gora
Published in: Proceedings Volume PC11937, Endoscopic Microscopy XVII; PC1193708, 2022
Publisher: SPIE BIOS
DOI: 10.1117/12.2608993

Privacy-preserving federated learning for multimodality multi-institution image segmentation

Author(s): Guiqiu Liao, Beatriz Farola Barata, Diego Dall’Alba, Gianni Borghesan, Benoit Rosa, Florent Nageotte, Jos Vander Sloten, Emmanuel Vander Poorten, Michalina J. Gora
Published in: Hamlyn symposium on Medical Robotics, 2022
Publisher: Hamlyn Symposium

Deep-learning-based Position Control of a Robotic Catheter under Environmental Contact

Author(s): Di Wu, Yao Zhang, Mouloud Ourak, Xuan Thao Ha, Kenan Niu, Jenny Dankelman, Emmanuel Vander Poorten
Published in: 2022 International Symposium on Medical Robotics (ISMR), 2022, ISBN 978-1-6654-6928-9
Publisher: IEEE
DOI: 10.1109/ismr48347.2022.9807533

Framework for soft tissue manipulation and control using Deep ReinforcementLearning

Author(s): Ameya Pore, Eleonora Tagliabue, Diego Dall'Alba, Paolo Fiorini
Published in: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

Small bowel to closest human body surface distance calculation through a custom-made software using CT-based datasets

Author(s): Marcello Chiurazzi, Angelo Damone, Martina Finocchiaro, Francesca Farnesi, Giacomo Lo Secco, Edoardo Forcignano, Alberto Arezzo, Gastone Ciuti
Published in: 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2021
Publisher: IEEE
DOI: 10.1109/embc46164.2021.9630828

Towards Modeling of Hysteresis in Robotic Catheters based on LSTM

Author(s): D. Wu, M. Ourak, K. Niu, Y. Zhang, M. Ahmad, J. Dankelman, E. Vander Poorten
Published in: 32nd Conference of the International Society for Medical Innovation and Technology (iSMIT), Issue Annual, 2020
Publisher: ANNUAL SMIT CONGRESS

Design of a magnetic actuation system for a microbiota-collection ingestible capsule

Author(s): Martina Finocchiaro, Cristina Giosue, Gaspare Drago, Fabio Cibella, Arianna Menciassi, Mario Sprovieri, Gastone Ciuti
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561142

Multi-level-assistance Robotic Platform for Navigation in the Urinary System: Design and Preliminary Tests

Author(s): Jorge Lazo, Chun-Feng Lai, Paolo Fiorini, Arianna Menciassi, Elena De Momi
Published in: 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2022
Publisher: CRAS

Autonomous OCT volumetric scanning with robotic endoscope

Author(s): Guiqiu Liao, Fernando Gonzalez Herrera, Zhongkai Zhang, Ameya Pore, Luca Sestini, Sujit Kumar Sahu, Oscar Caravaca-Mora, Philippe Zanne, Benoit Rosa, Diego Dall’Alba, Paolo Fiorini, Michel de Mathelin, Florent Nageotte, Michalina J. Gora
Published in: Proceedings Volume PC12146, Clinical Biophotonics II; PC1214602, 2022
Publisher: SPIE
DOI: 10.1117/12.2633884

Comparative Study on Electromagnetic Tracking and Fiber Bragg Grating-based Catheter Shape Sensing

Author(s): Xuan Thao Ha, Izadyar Tamadon, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Published in: 2022 IEEE Sensors, 2022, ISSN 2168-9229
Publisher: IEEE
DOI: 10.1109/sensors52175.2022.9967359

Comparison of different CNNs for breast tumorclassification from ultrasound images

Author(s): Lazo, Jorge F., Sara Moccia, Emanuele Frontoni, and Elena De Momi
Published in: VII Congress of the National Group of Bioengineering (GNB), 2020, ISSN 2724-2129
Publisher: GNB

Proof-of-Concept Medical Robotic Platform for Endovascular Catheterization

Author(s): Mohammad Hasan Dad Ansari, Beatriz Farola Barata, Trauzettel Fabian, Zhen Li, Di Wu, Diego Dall'Alba, Gianni Borghesan, Mouloud Ourak, Veronica Iacovacci, Selene Tognarelli, Jenny Dankelman, Elena De Momi, Paul Breedveld, Paolo Fiorini, Jos Vander Sloten, Arianna Menciassi, Emmanuel Vander Poorten
Published in: 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2022
Publisher: CRAS

Endoscopic Optical Coherence Tomography Volumetric Scanning Method withDeep Frame Stream Stabilization

Author(s): Guiqiu Liao, Oscar Caravaca Mora, Benoit Rosa, Diego D’Allaba, Alexandre Asch, Paolo Fiorini, Michel de Mathelin, Florent Nageotte and Michalina J. Gora
Published in: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

Modularization of medical robotic manipulator for adapting soft robotic armswith varying numbers of DOFs

Author(s): Chun-Feng Lai, Fabian Trauzettel, Paul Breedveld, Elena De Momi, Giancarlo Ferrigno, Jenny Dankelman
Published in: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

Autonomous image guided control of endoscopic orientation for OCT scanning

Author(s): Fernando Gonzalez Herrera, Ameya Pore, Luca Sestini, Sujit Kumar Sahu, Guiqiu Liao, Philippe Zanne, Diego Dall’Alba, Albert Hernansanz, Benoit Rosa, Florent Nageotte, Michalina Gora
Published in: 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2022
Publisher: CRAS

Continuous-curvature path planning for endovascular catheterization

Author(s): Zhen Li, Andrea Pagliari, Nicolò Pasini, Vittorio Zaccaria Pasolini, Chiara Quartana, Jenny Dankelman, Elena De Momi
Published in: Proc. of the 10th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

Feasibility of using a Long Short-Term Memory Network for Robotic Catheter Control

Author(s): Di Wu, M. Ourak, M. Ahmad, K. Niu, G. Borghesan, J. Dankelman, E. Vander Poorten
Published in: 10 th Conference on New Technologies for Computer and Robot Assisted Surgery, 2020
Publisher: Conference on New Technologies for Computer and Robot Assisted Surgery

Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery

Author(s): Ameya Pore, Davide Corsi, Enrico Marchesini, Diego Dall’Alba, Alicia Casals, Alessandro Farinelli, Paolo Fiorini
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, ISBN 978-1-6654-1714-3
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9636175

Colonoscopy Navigation using End-to-End Deep Visuomotor Control: A User Study

Author(s): Pore, Ameya; Finocchiaro, Martina; Dall'Alba, Diego; Hernansanz, Albert; Ciuti, Gastone; Arezzo, Alberto; Menciassi, Arianna; Casals, Alicia; Fiorini, Paolo
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981480

One-Shot Boundary Detection Network for Multi-Modal Side-Viewing Imaging

Author(s): Beatriz Farola Barata, Guiqiu Liao, Diego Dall'Alba, Gianni Borghesan and Benoit Rosa, Michel de Mathelin, Florent Nageotte, Paolo Fiorini, Michalina J. Gora, Jos Vander Sloten, Emmanuel Vander Poorten
Published in: 11th Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS), 2022
Publisher: CRAS

Estimation of a Vessel Side-Branches Model for Robotic Intravascular Navigation

Author(s): Beatriz Farola Barata , Wim-Alexander Beckers , Gianni Borghesan , Diego Dall'Alba , Paolo Fiorini , Jos Vander Sloten , Emmanuel Vander Poorten
Published in: 11th Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS), 2022
Publisher: CRAS

Colon phantoms with cancer lesions for endoscopic characterization with optical coherence tomography

Author(s): Natalia Zulina, Oscar Caravaca, Guiqiu Liao, Sara Gravelyn, Morgane Schmitt, Keshia Badu, Lucile Heroin, and Michalina J. Gora
Published in: Biomedical Optics Express, Issue 12-2, 2021, Page(s) 955-968, ISSN 2156-7085
Publisher: The Optical Society
DOI: 10.1364/boe.402081

Physical simulator for colonoscopy: a modular design approach and clinical validation

Author(s): Martina Finocchiaro, Clara Zabban, Yu Huan, Alessandro D. Mazzotta, Sebastian Schostek, Alícia Casals, Albert Hernansanz, Arianna Menciassi, Alberto Arezzo, Gastone Ciuti
Published in: IEEE Access, 2023, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3266087

Dynamic tracking of a magnetic micro-roller using ultrasound phase analysis

Author(s): Stefano Pane, Veronica Iacovacci, Mohammad Hasan Dad Ansari, Arianna Menciassi
Published in: Scientific Reports, 2021, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-021-02553-z

Design and evaluation of an MRI-ready, self-propelled needle for prostate interventions

Author(s): Jette Bloemberg , Fabian Trauzettel, Bram Coolen, Dimitra Dodou, Paul Breedveld
Published in: PLoS ONE, 2022, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0274063

Shape Sensing of Flexible Robots Based on Deep Learning

Author(s): Xuan Thao Ha, Di Wu, Mouloud Ourak, Gianni Borghesan, Jenny Dankelman, Arianna Menciassi, Emmanuel Vander Poorten
Published in: IEEE Transactions on Robotics, Issue Volume: 39, Issue: 2, 2023, Page(s) 1580 - 1593, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3221368

Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction

Author(s): Di Wu, Yao Zhang, Mouloud Ourak, Kenan Niu, Jenny Dankelman, Emmanuel Vander Poorten
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 2106-2113, ISSN 2377-3766
Publisher: IEEE ROBOTICS AND AUTOMATION LETTERS
DOI: 10.1109/lra.2021.3061069

Path planning for endovascular catheterization under curvature constraints via two-phase searching approach

Author(s): Zhen Li, Jenny Dankelman, Elena De Momi
Published in: International Journal of Computer Assisted Radiology and Surgery, Issue 16/4, 2021, Page(s) 619-627, ISSN 1861-6410
Publisher: Springer Verlag
DOI: 10.1007/s11548-021-02328-x

A Spring-based Inductive Sensor for Soft and Flexible Robots

Author(s): Sujit Kumar Sahu, Izadyar Tamadon, Benoit Rosa, Pierre Renaud,Arianna Menciassi
Published in: IEEE Sensors Journal, 2022, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2022.3201049

Semi-supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images

Author(s): Jorge F. Lazo, Benoit Rosa, Michele Catellani, Matteo Fontana, Francesco A. Mistretta, Gennaro Musi, Ottavio de Cobelli, Michel de Mathelin, Elena De Momi
Published in: IEEE Transactions on Biomedical Engineering, 2023, ISSN 0018-9294
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tbme.2023.3265679

Training Simulators for Gastrointestinal Endoscopy: Current and Future Perspectives

Author(s): Martina Finocchiaro, Pablo Cortegoso Valdivia, Albert Hernansanz, Nicola Marino, Denise Amram, Alicia Casals, Arianna Menciassi, Wojciech Marlicz, Gastone Ciuti, Anastasios Koulaouzidis
Published in: Cancers, Issue 13/6, 2021, Page(s) 1427, ISSN 2072-6694
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/cancers13061427

3D Printing of Small-Scale Soft Robots with Programmable Magnetization

Author(s): Mohammad Hasan Dad Ansari, Veronica Iacovacci, Stefano Pane, Mouloud Ourak, Gianni Borghesan, Izadyar Tamadon, Emmanuel Vander Poorten, Arianna Menciassi
Published in: Advanced Functional Materials, 2023, ISSN 1616-3028
Publisher: Wiley-VCH
DOI: 10.1002/adfm.202211918

FUN-SIS: a fully unsupervised approach for surgical instrument segmentation

Author(s): Luca Sestini, Benoit Rosa, Elena De Momi, Giancarlo Ferrigno, Nicolas Padoy
Published in: Elsevier Medical Image Analysis, 2023, ISSN 0018-9294
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1016/j.media.2023.102751

Follow-The-Leader Mechanisms in Medical Devices: A Review on Scientific and Patent Literature.

Author(s): Costanza Culmone; Semih Fatih Yikilmaz; Fabian Trauzettel; Paul Breedveld
Published in: IEEE Rev Biomed Eng., Issue 7, 2023, ISSN 1937-3333
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/rbme.2021.3113395

Robust Catheter Tracking by Fusing Electromagnetic Tracking, Fiber Bragg Grating and Sparse Fluoroscopic Images

Author(s): Xuan Thao Ha , Mouloud Ourak , Omar Al-Ahmad , Di Wu and Gianni Borghesan , Arianna Menciassi , Emmanuel Vander Poorten
Published in: IEEE Sensors Journal, Issue Volume: 21, Issue: 20, 2021, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2021.3107036

Fusion of Biplane Fluoroscopy with Fiber Bragg Grating for 3D Catheter Shape Reconstruction

Author(s): Mouloud Ourak , Stijn De Buck , Xuan Thao Ha , Omar Al-Ahmad , Kobe Bamps , Joris Ector , Emmanuel Vander Poorten
Published in: IEEE Robotics and Automation Letters, Issue Volume: 6, Issue: 4, 2021, Page(s) 6505 - 6512, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3094238

IVUS-Based Local Vessel Estimation for Robotic Intravascular Navigation

Author(s): Beatriz Farola Barata; Phuong Toan Tran; Gianni Borghesan; Keir McCutcheon; Diego Dall'Alba; Paolo Fiorini; Jos Vander Sloten; Emmanuel Vander Poorten
Published in: IEEE Robotics and Automation Letters, Issue vol. 6, no. 4, 2021, Page(s) 8102-8109, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3102307

TRandAugment: temporal random augmentation strategy for surgical activity recognition from videos

Author(s): Sanat Ramesh, Diego Dall’Alba, Cristians Gonzalez, Tong Yu, Pietro Mascagni, Didier Mutter, Jacques Marescaux, Paolo Fiorini & Nicolas Padoy
Published in: International Journal of Computer Assisted Radiology and Surgery (IJCARS), 2021, ISSN 1861-6410
Publisher: Springer Verlag
DOI: 10.1007/s11548-023-02864-8

Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

Author(s): Sujit Kumar Sahu, Canberk Sozer, Benoit Rosa, Izadyar Tamadon, Pierre Renaud, Arianna Menciassi
Published in: Frontiers in Robotics and AI, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.758411

Weakly Supervised Temporal Convolutional Networks for Fine-grained Surgical Activity Recognition

Author(s): Sanat Ramesh; Diego Dall’Alba; Cristians Gonzalez; Tong Yu; Pietro Mascagni; Didier Mutter; Jacques Marescaux; Paolo Fiorini; Nicolas Padoy
Published in: IEEE Transactions on Medical Imaging (TMI), 2023, ISSN 0278-0062
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.48550/arxiv.2302.10834

Sperm Cell Driven Microrobots—Emerging Opportunities and Challenges for Biologically Inspired Robotic Design

Author(s): Ajay Singh, Mohammad Ansari, Mihir Mahajan, Shubhangi Srivastava, Shubham Kashyap, Prajjwal Dwivedi, Vaibhav Pandit, Uma Katha
Published in: Micromachines, Issue 11/4, 2020, Page(s) 448, ISSN 2072-666X
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/mi11040448

Data Stream Stabilization for Optical CoherenceTomography Volumetric Scanning

Author(s): Guiqiu Liao; Oscar Caravaca-Mora; Benoit Rosa; Philippe Zanne; Alexandre Asch; Diego Dall’Alba; Paolo Fiorini; Michel de Mathelin; Florent Nageotte; Michalina J. Gora
Published in: IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS, 2021, ISSN 2576-3202
Publisher: IEEE
DOI: 10.1109/tmrb.2021.3093434

Contact Localization of Continuum and Flexible Robot Using Data-driven Approach

Author(s): Xuan Thao Ha , Di Wu , Chun-Feng Lai , Mouloud Ourak , Gianni Borghesan , Arianna Menciassi , Emmanuel Vander Poorten
Published in: IEEE Robotics and Automation Letters, 2022, Page(s) 6910 - 6917, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3176723

Position-based dynamics simulator of vessel deformations for path planning in robotic endovascular catheterization

Author(s): Zhen Li, Enrico Manzionna, Giovanni Monizzi, Angelo Mastrangelo, Maria Elisabetta Mancini, Daniele Andreini, Jenny Dankelman, Elena De Momi
Published in: Medical Engineering & Physics, 2022, ISSN 1350-4533
Publisher: Elsevier BV
DOI: 10.1016/j.medengphy.2022.103920

A Kinematic Bottleneck Approach for Pose Regression of Flexible Surgical Instruments Directly From Images

Author(s): Luca Sestini; Benoit Rosa; Elena De Momi; Giancarlo Ferrigno; Nicolas Padoy
Published in: IEEE Robotics and Automation Letters, 2021, Page(s) 2938 - 2945, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3062308

Distortion and instability compensation with deep learning for rotational scanning endoscopic optical coherence tomography,

Author(s): Guiqiu Liao, Oscar Caravaca-Mora, Benoit Rosa, Philippe Zanne, Diego Dall’Alba, Paolo Fiorini, Michel de Mathelin, Florent Nageotte, Michalina J. Gora,
Published in: Medical Image Analysis, 2022, ISSN 1361-8415
Publisher: Elsevier BV
DOI: 10.1016/j.media.2022.102355

Automatic intraluminal scanning with a steerable endoscopic optical coherence tomography catheter for gastroenterology applications

Author(s): Oscar Caravaca-Mora, Philippe Zanne, Guiqiu Liao, Natalia Zulina, Lucile Heroin, Lucile Zorn, Michel De Mathelin, Benoit Rosa, Florent P. Nageotte, Michalina J. Gora
Published in: Journal of Optical Microsystems, Issue Vol. 3, Issue 1, 2023, ISSN 2708-5260
Publisher: SPIE
DOI: 10.1117/1.jom.3.1.011005

Using spatial-temporal ensembles of convolutional neural networks for lumen segmentation in ureteroscopy

Author(s): Jorge F. Lazo, Aldo Marzullo, Sara Moccia, Michele Catellani, Benoit Rosa, Michel de Mathelin & Elena De Momi
Published in: International Journal of Computer Assisted Radiology and Surgery, Issue 16, 2021, Page(s) 915–922, ISSN 1861-6429
Publisher: Springer
DOI: 10.1007/s11548-021-02376-3

Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter

Author(s): D. Wu, X. T. Ha, Y. Zhang, M. Ourak, G. Borghesan, K. Niu, F. Trauzettel, J. Dankelman, A. Menciassi, E. Vander Poorten
Published in: IEEE Robotics and Automation Letters, Issue Volume: 7, Issue: 4, 2022, Page(s) 8853 - 8860, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3186497

Multi-task temporal convolutional networks for joint recognition of surgical phases and steps in gastric bypass procedures

Author(s): Sanat Ramesh, Diego Dall'Alba, Cristians Gonzalez, Tong Yu, Pietro Mascagni , Didier Mutter , Jacques Marescaux, Paolo Fiorini and Nicolas Padoy
Published in: International Journal of Computer Assisted Radiology and Surgery (IJCARS), 2021, ISSN 1861-6410
Publisher: Springer Verlag
DOI: 10.1007/s11548-021-02388-z

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