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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, 5/4, 2020, Page(s) 6427-6434, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2020.3013900

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, 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, 1, 2020, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2019.2960308

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, 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, 5/2, 2020, Page(s) 2642-2649, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2020.2972880

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, 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, 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, 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, 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, 3/1, 2021, Page(s) 53-63, ISSN 2576-3202
Publisher: IEEE
DOI: 10.1109/tmrb.2021.3054326

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

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, 5/3, 2020, Page(s) 3937-3944, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2020.2983704

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, 4/31, 2019, Page(s) 1-31, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.aav7725

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, 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, 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, 4/1, 2021, ISSN 2573-5144
Publisher: Annual Reviews
DOI: 10.1146/annurev-control-062420-090543

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), 2020, 2020, Page(s) 111-117, ISBN 978-1-7281-5488-6
Publisher: IEEE
DOI: 10.1109/ismr48331.2020.9312943

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), 2020, 2020, Page(s) 7211-7218
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341250

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), 2020
Publisher: Institute of Electrical and Electronics Engineers

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), 2021, 2021, Page(s) 335-342, ISBN 978-1-7281-7713-7
Publisher: IEEE
DOI: 10.1109/robosoft51838.2021.9479189