Novel Lifesaving Magnetic Tentacles

Publications

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

Author(s): Federico Campisano, Andria A. Remirez, Claire A. Landewee, Simone Calo, Keith L. Obstein, Robert J. Webster, Pietro Valdastri
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6427-6434, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2020.3013900

Magnetic Soft Continuum Robots With Braided Reinforcement

Author(s): Peter Lloyd, Onaizah Onaizah, Giovanni Pittiglio, Damith Vithanage, James Chandler, Pietro Valdastri
Published in: IEEE Robotics and Automation Letters, Issue 4/12, 2022, Page(s) 9770 - 9777, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3191552

Occlusion-Robust Autonomous Robotic Manipulation of Human Soft Tissues with 3D Surface Feedback

Author(s): Hu, Junlei; Jones, Dominic; Dogar, Mehmet; Valdastri, Pietro
Published in: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3335693

Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots

Author(s): Peter Lloyd, Zaneta Koszowska, Michele Di Lecce, Onaizah Onaizah, James H. Chandler, Pietro Valdastri
Published in: Frontiers in Robotics and AI, Issue 8, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.715662

A Compression Valve for Sanitary Control of Fluid-Driven Actuators.

Author(s): Simone Calo; James H. Chandler; Federico Campisano; Keith L. Obstein; Pietro Valdastri
Published in: IEEE/ASME Transactions on Mechatronics, Issue 1, 2020, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2019.2960308

Six-degree-of-freedom Localization Under Multiple Permanent Magnets Actuation

Author(s): da Veiga, Tomas; Pittiglio, Giovanni; Brockdorff, Michael; Chandler, James H.; Valdastri, Pietro
Published in: IEEE Robotics and Automation Letters, Issue 6/12, 2023, Page(s) 3422-3429, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3268588

Optimization and fabrication of programmable domains for soft magnetic robots: A review

Author(s): Alistair Bacchetti, Peter Lloyd, Silvia Taccola, Evan Fakhoury, Sandy Cochran, Russell A. Harris, Pietro Valdastri, James H. Chandler
Published in: Frontiers in Robotics and AI, Issue 9/12, 2022, ISSN 2296-9144
Publisher: Frontiers Media
DOI: 10.3389/frobt.2022.1040984

Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots

Author(s): K. Abolfathi, J. A. Rosales Medina, H. Khaksar, J. Chandler, K. McDonald-Maier, K. Ashkan, P. Valdastri, A. Kafash Hoshiar
Published in: IEEE Robotics and Automation Letters, Issue 7/12, 2023, Page(s) 4235-4242, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3280749

Towards Autonomous Robotic Minimally Invasive Ultrasound Scanning and Vessel Reconstruction on Non-Planar Surfaces

Author(s): Nils Marahrens; Bruno Scaglioni; Dominic Jones; Raj Prasad; Chandra Shekhar Biyani; Pietro Valdastri
Published in: Frontiers in Robotics and AI, Issue 12, 2022, ISSN 2296-9144
Publisher: Frontiers Media
DOI: 10.3389/frobt.2022.940062

Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty

Author(s): Piotr R. Slawinski, Nabil Simaan, Addisu Z. Taddese, Keith L. Obstein, Pietro Valdastri
Published in: IEEE Transactions on Robotics, Issue 35/5, 2019, Page(s) 1123-1135, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2019.2917817

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Author(s): Federico Campisano, Andria A. Remirez, Simone Calo, James H. Chandler, Keith L. Obstein, Robert J. Webster, Pietro Valdastri
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2642-2649, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2020.2972880

Independently Actuated Soft Magnetic Manipulators for Bimanual Operations in Confined Anatomical Cavities

Author(s): Zaneta Koszowska, Michael Brockdorff, Tomas da Veiga, Giovanni Pittiglio, Peter Lloyd, Thomas Khan-White, Russell A. Harris, James W. Moor, James H. Chandler, Pietro Valdastri
Published in: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.202300062

Magnetic flexible endoscope for colonoscopy: an initial learning curve analysis

Author(s): Alexander P. Mamunes, Federico Campisano, James Martin, Bruno Scaglioni, Evangelos Mazomenos, Pietro Valdastri, Keith L. Obstein
Published in: Endoscopy International Open, Issue 09/02, 2021, Page(s) E171-E180, ISSN 2364-3722
Publisher: Thieme
DOI: 10.1055/a-1314-9860

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation

Author(s): James W. Martin, Bruno Scaglioni, Joseph C. Norton, Venkataraman Subramanian, Alberto Arezzo, Keith L. Obstein, Pietro Valdastri
Published in: Nature Machine Intelligence, Issue 2/10, 2020, Page(s) 595-606, ISSN 2522-5839
Publisher: Nature Research
DOI: 10.1038/s42256-020-00231-9

Parallel Helix Actuators for Soft Robotic Applications

Author(s): James H. Chandler, Manish Chauhan, Nicolo Garbin, Keith L. Obstein, Pietro Valdastri
Published in: Frontiers in Robotics and AI, Issue 7, 2020, ISSN 2296-9144
Publisher: Frontiers Media
DOI: 10.3389/frobt.2020.00119

Autonomous Tissue Retraction in Robotic Assisted Minimally Invasive Surgery – A Feasibility Study

Author(s): Aleks Attanasio, Bruno Scaglioni, Matteo Leonetti, Alejandro F. Frangi, William Cross, Chandra Shekhar Biyani, Pietro Valdastri
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6528-6535, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2020.3013914

A Comparative Study of Spatio-Temporal U-Nets for Tissue Segmentation in Surgical Robotics

Author(s): Aleks Attanasio, Chiara Alberti, Bruno Scaglioni, Nils Marahrens, Alejandro F. Frangi, Matteo Leonetti, Chandra Shekhar Biyani, Elena De Momi, Pietro Valdastri
Published in: IEEE Transactions on Medical Robotics and Bionics, Issue 3/1, 2021, Page(s) 53-63, ISSN 2576-3202
Publisher: IEEE
DOI: 10.1109/tmrb.2021.3054326

Personalized magnetic tentacles for targeted photothermal cancer therapy in peripheral lungs

Author(s): G. Pittiglio, J. Chandler, T. da Veiga, Z. Koszowska, M. Brockdorff, P. Lloyd, K. Barry, R. Harris, J. McLaughlan, C. Pompili, P. Valdastri
Published in: Nature Communications Engineering, Issue 2/12, 2023, ISSN 2731-3395
Publisher: Springer Nature
DOI: 10.1038/s44172-023-00098-9

Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope

Author(s): Lavinia Barducci, Bruno Scaglioni, James Martin, Keith L. Obstein, Pietro Valdastri
Published in: Frontiers in Robotics and AI, 2022, ISSN 2296-9144
Publisher: Frontiers Media
DOI: 10.3389/frobt.2022.854081

Robotic Autonomy for Magnetic Endoscope Biopsy

Author(s): James Martin, Lavinia Barducci, Bruno Scaglioni, Joseph Norton, Conchubhair Winters, Venkat Subramanian, Alberto Arezzo, Keith Obstein, Pietro Valdastri
Published in: IEEE Transactions on Medical Robotics and Bionics, Issue 3/12, 2022, Page(s) 599-607, ISSN 2576-3202
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmrb.2022.3187028

Micro-scale aerosol jet printing of superparamagnetic Fe3O4 nanoparticle patterns

Author(s): Silvia Taccola, Tomas da Veiga, James H. Chandler, Oscar Cespedes, Pietro Valdastri, Russell A. Harris
Published in: Scientific Reports, Issue 12/12, 2022, Page(s) 17931, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-022-22312-y

A Magnetically-Actuated Coiling Soft Robot With Variable Stiffness

Author(s): Peter Lloyd, Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, Giovanni Pittiglio, James H. Chandler, Pietro Valdastri, Sarthak Misra
Published in: IEEE Robotics and Automation Letters, Issue 6/12, 2023, Page(s) 3262-3269, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3264770

A Framework for Simulation of Magnetic Soft Robots Using the Material Point Method

Author(s): J. Davy, P. Lloyd, J. H. Chandler, P. Valdastri
Published in: IEEE Robotics and Automation Letters, Issue 6/12, 2023, Page(s) 3470-3477, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3268016

Patient-specific Magnetic Catheters for Atraumatic Autonomous Endoscopy

Author(s): Giovanni Pittiglio, Peter Lloyd, Tomas da Veiga, Onaizah Onaizah, Cecilia Pompili, James Chandler, Pietro Valdastri
Published in: Soft Robotics, 2022, ISSN 2169-5180
Publisher: Mary Ann Liebert, Inc
DOI: 10.1089/soro.2021.0090

A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots

Author(s): Peter Lloyd, Ali Kafash Hoshiar, Tomas da Veiga, Aleks Attanasio, Nils Marahrens, James Henry Chandler, Pietro Valdastri
Published in: IEEE Robotics and Automation Letters, Issue 5/3, 2020, Page(s) 3937-3944, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2020.2983704

Closed Loop Static Control of Multi-Magnet Soft Continuum Robots

Author(s): G. Pittiglio, A. Orekhov, T. da Veiga, S. Calò, J. Chandler, N. Simaan, P. Valdastri
Published in: IEEE Robotics and Automation Letters, Issue 7/12, 2023, Page(s) 3980-3987, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3274431

Intelligent magnetic manipulation for gastrointestinal ultrasound

Author(s): Joseph C. Norton, Piotr R. Slawinski, Holly S. Lay, James W. Martin, Benjamin F. Cox, Gerard Cummins, Marc P.Y. Desmulliez, Richard E. Clutton, Keith L. Obstein, Sandy Cochran, Pietro Valdastri
Published in: Science Robotics, Issue 4/31, 2019, Page(s) 1-31, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.aav7725

Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

Author(s): Giovanni Pittiglio, Michael Brockdorff, Tomas da Veiga, Joshua Davy, James Henry Chandler, Pietro Valdastri
Published in: IEEE Transactions on Robotics, Issue 2/12, 2022, Page(s) 1407 - 1418, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3209038

Evolutionary Inverse Material Identification: Bespoke Characterization of Soft Materials Using a Metaheuristic Algorithm

Author(s): Michele Di Lecce, Onaizah Onaizah, Peter Lloyd, James Chandler, Pietro Valdastri
Published in: Frontiers in Robotics and AI, 2022, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.790571

Challenges of continuum robots in clinical context: a review

Author(s): Da Veiga, Tomas; Chandler, James Henry; Lloyd, Peter; Pittiglio, Giovanni; Wilkinson, Nathan James; Hoshiar, Ali Kafash; Harris, Russell A.; Valdastri, Pietro
Published in: Progress in Biomedical Engineering, 2020, ISSN 2516-1091
Publisher: IOP Publishing
DOI: 10.1088/2516-1091/ab9f41

Guidelines for Robotic Flexible Endoscopy at the Time of COVID-19

Author(s): Onaizah Onaizah, Zaneta Koszowska, Conchubhair Winters, Venkatamaran Subramanian, David Jayne, Alberto Arezzo, Keith L. Obstein, Pietro Valdastri
Published in: Frontiers in Robotics and AI, Issue 8, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.612852

An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications

Author(s): Manish Chauhan, James H. Chandler, Animesh Jha, Venkataraman Subramaniam, Keith L. Obstein, Pietro Valdastri
Published in: Frontiers in Robotics and AI, Issue 8, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.664720

Autonomy in Surgical Robotics

Author(s): Aleks Attanasio, Bruno Scaglioni, Elena De Momi, Paolo Fiorini, Pietro Valdastri
Published in: Annual Review of Control, Robotics, and Autonomous Systems, Issue 4/1, 2021, ISSN 2573-5144
Publisher: Annual Reviews
DOI: 10.1146/annurev-control-062420-090543

Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study

Author(s): Davy, Joshua; da Veiga, Tomas; Pittiglio, Giovanni; Chandler, James H.; Valdastri, Pietro
Published in: 2023 International Symposium on Medical Robotics (ISMR), Issue 21, 2023, ISSN 2771-9049
Publisher: IEEE
DOI: 10.1109/ismr57123.2023.10130246

Optimal Design of Soft Continuum Magnetic Robots under Follow-the-leader Shape Forming Actuation

Author(s): Peter Lloyd, Giovanni Pittiglio, James H. Chandler, Pietro Valdastri
Published in: 2020 International Symposium on Medical Robotics (ISMR), Issue 2020, 2020, Page(s) 111-117, ISBN 978-1-7281-5488-6
Publisher: IEEE
DOI: 10.1109/ismr48331.2020.9312943

Coordinate Calibration of a Dual-Arm Robot System by Visual Tool Tracking

Author(s): Junlei Hu; Dominic Jones; Pietro Valdastri
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, Page(s) 11468-11473
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161239

Dual-Arm Control for Enhanced Magnetic Manipulation

Author(s): Giovanni Pittiglio, James Chandler, Michiel Richter, Venkatasubramanian K. Venkiteswaran, Sarthak Misra, Pietro Valdastri
Published in: Proceedings of 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2020, 2020, Page(s) 7211-7218
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341250

Material Characterization for Magnetic Soft Robots

Author(s): Tomas Da Veiga, James H. Chandler, Giovanni Pittiglio, Peter Lloyd, Mohammad Holdar, Onaizah Onaizah, Ali Alazmani, Pietro Valdastri
Published in: 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft), Issue 2021, 2021, Page(s) 335-342, ISBN 978-1-7281-7713-7
Publisher: IEEE
DOI: 10.1109/robosoft51838.2021.9479189

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