SMart weArable Robotic Teleoperated Surgery

Project Information

SMARTsurg

Grant agreement ID: 732515

DOI 10.3030/732515

Project closed

EC signature date 29 November 2016

Start date 1 January 2017

End date 30 June 2021

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 3 990 206,25

EU contribution € 3 990 206,25

Coordinated by

UNIVERSITY OF THE WEST OF ENGLAND, BRISTOL
United Kingdom

Deliverables

Documents, reports (18)

Design of Human Robot Interaction interface for surgical procedures

Design of the humanrobot interaction toolkit to support the design adaptation and execution processes Based on humancentric methodology and feedback from respective endusers the necessary graphical user interfaces will be defined along with the necessary interfaces needed to interact with the main controller of the SMARTsurg platform

Lab setup methodology, s/w and h/w system extensions validation

Several test trials for the validation and testing of the each of the components hardware extensions to the system and the software modules that constitute the SMARTsurg framework Update version will be available in M33

On-the-fly 3D reconstruction of the surgical field

Algorithms for realtime 3D reconstruction of the surgical field providing the surgeon with the necessary visual feedback for accurate teleoperation of the slave instrument Update version will be available in M28

Market analysis and exploitation strategy

An initial exploitation plan will be made within the first 12 months and different versions of the exploitation plan will be updated during the project life Updated versions will be available in M24 and M36

Ethics and Safety Manual for SMARTsurg technology

The project will deliver an ethics manual which will be issued by Month 5 of the project The Ethics Heldpdesk established at Month 3 lead CERTH will supervise all relevant issues for the demonstration phase of the project in UWE premises as well as to the recognition of key ethical and legal issues to be addressed ie consent forms data collection procedure for the validation of the visionbased toolkit etc An updated version will be available in M36

SMARTsurg consolidated evaluation

Comparison of SMARTsurg with the standard system for teleoperation the Da Vinci robot will be exploited through the use of the DVRK This will allow performing reference procedures with the standard instruments and standard vs space variable control to be compared to SMARTsurg new basic and bespoke instrumentsUpdate version will be available in M35

Website and Social Media Presence Launch

Establishing and conducting the overall Web and Social Media presence of the SMARTsurg project

Dynamic active constraints construction

Registration of surface or volume models segmented from the medical images on to the vision system and the robot reference frame Update version will be available in M26

Report on R-A MIS protocol extraction and verification

A protocol will be semiautomatically defined for the examined robotassisted MIS procedure and verified

Augmented reality composite view creation and visualisation

Methodology for extracting virtual content and coregistering it to the 3D reconstructed views of the surgical field Visualization of the created augmented reality composite will be efficiently displayed on the binocular smart glasses worn by the surgeonUpdate version will be available in M28

Final plan for the use and exploitation of foreground

Elaborating a viable business plan based on the methodology proposed in earlier sections as well as the signature of the exploitation agreement

Report on evaluation of surgical tools

Developed SMARTsurg surgical tools evaluated by surgeons junior senior on surgical phantoms and later on pig cadavers based on previously established criteria

End-user requirements, use cases and application scenarios

The workflow from imaging to robot deployment into the patients body and actual operation will be defined as a design constrain for the overall architecture and for the User Interface

Dynamic active constraints enforcement

Innovative control schemes capable of enforcing dynamic active constraints constructed on the fly from the real operational siteUpdate version will be available in M30

Surgical protocol and workflow for ex-vivo animal testing of SMARTsurg prototype

Description of the surgical steps and the use of developed Smartsurg prototype for testing on exvivo animal samples

Report on user-centred design of surgical tools

Surgical scenarios will define functional and nonfunctional requirements of the SMART surg teleoperation system and more specifically surgical instruments

SMARTsurg system specifications and conceptual architecture

i the overall architecture of the SMARTsurg framework conceptual deployment development information flow and on ii deriving the specifications of the key components and their functionalitiesAn updated version will be available in M24

Report on Haptic feedback system development

Haptic feedback provided through Virtuose haptic arm on the human arm and haptic feedback acting on the surgeons hand while manipulating the soft tissue will be analysed and comparedUpdate version will be available in M30

Demonstrators, pilots, prototypes (5)

Integrated SMARTsurg system prototype

All the software and hardware developed in WP4WP6 will be integrated into the final system Update version will be available in M33

Wearable surgical system demonstration

Adjustable sensorised hand exoskeleton will be rapid prototyped and integrated with a commercial haptic arm Haption Virtuose 6d Desktop to allow realtime tracking of the surgeons hand digits and arm motionUpdate version will be available in M28

SMARTsurg use cases deployment and execution

Deployment and testing of the developed SMARTsurg demonstrators Update version will be available in M35

Surgical Instrument prototype ready for first use trial

A threedigit surgical tool telecontrolled using the master hand exoskeleton

"""Clip-On"" tool interchangeability system concept and rapid prototype"

A clipon concept for fast change of surgical instruments using a commercial manipulator Update version will be available in M30

Open Research Data Pilot (1)

SMARTsurg Data Management Plan

A description of business models related to the SMARTsurg project exploitable resultsUpdated version will be available in M36

Publications

Peer reviewed articles (27)

Asymmetric Bimanual Control of Dual-arm Serial Manipulator for Robot-assisted Minimally Invasive Surgeries

Author(s): Hang Su, Yunus Schmirander, Sarah Elena Valderrama-Hincapie, Jairo Pinedo, Xuanyi Zhou, Jiehao Li, Longbin Zhang, Yingbai Hu, Giancarlo Ferrigno, Elena De Momi
Published in: Sensors and Materials, Issue 32/4, 2020, Page(s) 1223, ISSN 0914-4935
Publisher: M Y U Scientific Publishing Division
DOI: 10.18494/sam.2020.2618

Novel Adaptive Sensor Fusion Methodology for Hand Pose Estimation With Multileap Motion

Author(s): Salih Ertug Ovur, Hang Su, Wen Qi, Elena De Momi, Giancarlo Ferrigno
Published in: IEEE Transactions on Instrumentation and Measurement, Issue 70, 2021, Page(s) 1-8, ISSN 0018-9456
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tim.2021.3063752

Towards Model-Free Tool Dynamic Identification and Calibration Using Multi-Layer Neural Network

Author(s): Hang Su, Wen Qi, Yingbai Hu, Juan Sandoval, Longbin Zhang, Yunus Schmirander, Guang Chen, Andrea Aliverti, Alois Knoll, Giancarlo Ferrigno, Elena De Momi
Published in: Sensors, Issue 19/17, 2019, Page(s) 3636, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19173636

Design of a Wearable Fingertip Haptic Device: Investigating Materials of Varying Stiffness for Mapping the Variable Compliance Platform

Author(s): Morad, S., Jaffer, Z. and Dogramadzi, S.
Published in: Journal of Medical Robotics Research, 2021, ISSN 2424-905X
Publisher: World Scientific Publishing
DOI: 10.1142/s2424905x21500057

Requirements elicitation for robotic and computer-assisted minimally invasive surgery

Author(s): Hirenkumar Nakawala, Elena De Momi, Antonia Tzemanaki, Sanja Dogramadzi, Andrea Russo, Michele Catellani, Roberto Bianchi, Ottavio De Cobelli, Aristotelis Sideridis, Emmanuel Papacostas, Anthony Koupparis, Edward Rowe, Raj Persad, Raimondo Ascione, Giancarlo Ferrigno
Published in: International Journal of Advanced Robotic Systems, Issue 16/4, 2019, Page(s) 172988141986580, ISSN 1729-8814
Publisher: SAGE Publishing
DOI: 10.1177/1729881419865805

An Incremental Learning Framework for Human-like Redundancy Optimization of Anthropomorphic Manipulators

Author(s): Hang Su, Wen Qi, Yingbai Hu, Hamid Reza Karimi, Giancarlo Ferrigno, Elena De Momi
Published in: IEEE Transactions on Industrial Informatics, 2020, Page(s) 1-1, ISSN 1551-3203
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tii.2020.3036693

Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks

Author(s): Sajeeva Abeywardena, Qiaodi Yuan, Antonia Tzemanaki, Efi Psomopoulou, Leonidas Droukas, Chris Melhuish, Sanja Dogramadzi
Published in: Frontiers in Robotics and AI, Issue 6, 2019, ISSN 2296-9144
Publisher: Frontiers Media
DOI: 10.3389/frobt.2019.00056

Modelling and identification of the asymmetric hysteresis in the viscoelastic response of the fingertip under indentation: A multistate friction model with switching parameters

Author(s): Alessia Capace, Carlo Cosentino, Haider Abidi, Ferdinando Cannella, Francesco Amato, Sanja Dogramadzi, Alessio Merola
Published in: Mechatronics, 2021, ISSN 0957-4158
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2021.102578

Deep Neural Network Approach in EMG-Based Force Estimation for Human-Robot Interaction

Author(s): Hang Su; Wen Qi; Zhijun Li; Ziyang Chen; Giancarlo Ferrigno; Elena De Momi
Published in: IEEE Transactions on Artificial Intelligence, Issue 4, 2021, Page(s) 404 - 412, ISSN 2691-4581
Publisher: IEEE
DOI: 10.1109/tai.2021.3066565

Neural Network Enhanced Robot Tool Identification and Calibration for Bilateral Teleoperation

Author(s): Hang Su, Chenguang Yang, Hussein Mdeihly, Alessandro Rizzo, Giancarlo Ferrigno, Elena De Momi
Published in: IEEE Access, Issue 7, 2019, Page(s) 122041-122051, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2019.2936334

Deep Neural Network Approach in Human-Like Redundancy Optimization for Anthropomorphic Manipulators

Author(s): Hang Su, Wen Qi, Chenguang Yang, Andrea Aliverti, Giancarlo Ferrigno, Elena De Momi
Published in: IEEE Access, Issue 7, 2019, Page(s) 124207-124216, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2019.2937380

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 SA
DOI: 10.3389/frobt.2019.00055

A novel autonomous learning framework to enhance sEMG-based hand gesture recognition using depth information

Author(s): Salih Ertug Ovur, Xuanyi Zhou, Wen Qi, Longbin Zhang, Yingbai Hu, Hang Su, Giancarlo Ferrigno, Elena De Momi
Published in: Biomedical Signal Processing and Control, Issue 66, 2021, Page(s) 102444, ISSN 1746-8094
Publisher: Elsevier BV
DOI: 10.1016/j.bspc.2021.102444

Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment

Author(s): Antonia Tzemanaki, Gorkem Anil Al, Chris Melhuish, Sanja Dogramadzi
Published in: Frontiers in Robotics and AI, Issue 5, 2018, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2018.00062

Performance metrics for guidance active constraints in surgical robotics

Author(s): Nima Enayati, Giancarlo Ferrigno, Elena De Momi
Published in: The International Journal of Medical Robotics and Computer Assisted Surgery, Issue 14/1, 2018, Page(s) e1873, ISSN 1478-5951
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/rcs.1873

Skill-based human–robot cooperation in tele-operated path tracking

Author(s): Nima Enayati, Giancarlo Ferrigno, Elena De Momi
Published in: Autonomous Robots, Issue 42/5, 2018, Page(s) 997-1009, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9675-4

Development of an intelligent surgical training system for Thoracentesis

Author(s): Hirenkumar Nakawala, Giancarlo Ferrigno, Elena De Momi
Published in: Artificial Intelligence in Medicine, Issue 84, 2018, Page(s) 50-63, ISSN 0933-3657
Publisher: Elsevier BV
DOI: 10.1016/j.artmed.2017.10.004

EnViSoRS: Enhanced Vision System for Robotic Surgery. A User-Defined Safety Volume Tracking to Minimize the Risk of Intraoperative Bleeding

Author(s): Veronica Penza, Elena De Momi, Nima Enayati, Thibaud Chupin, Jesús Ortiz, Leonardo S. Mattos
Published in: Frontiers in Robotics and AI, Issue 4, 2017, Page(s) 1-13, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2017.00015

Analysis of Joint and Hand Impedance During Teleoperation and Free-Hand Task Execution

Author(s): Jacopo Buzzi, Cecilia Gatti, Giancarlo Ferrigno, Elena De Momi
Published in: IEEE Robotics and Automation Letters, Issue 2/3, 2017, Page(s) 1733-1739, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2017.2678546

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

Author(s): Jacopo Buzzi, Giancarlo Ferrigno, Joost M. Jansma, Elena De Momi
Published in: Frontiers in Neuroscience, Issue 11, 2017, Page(s) 50-63, ISSN 1662-453X
Publisher: Frontiers in Neuroscience
DOI: 10.3389/fnins.2017.00528

“Deep-Onto” network for surgical workflow and context recognition

Author(s): Hirenkumar Nakawala, Roberto Bianchi, Laura Erica Pescatori, Ottavio De Cobelli, Giancarlo Ferrigno, Elena De Momi
Published in: International Journal of Computer Assisted Radiology and Surgery, Issue 14/4, 2019, Page(s) 685-696, ISSN 1861-6410
Publisher: Springer Verlag
DOI: 10.1007/s11548-018-1882-8

Toward Teaching by Demonstration for Robot-Assisted Minimally Invasive Surgery

Author(s): Hang Su, Andrea Mariani, Salih Ertug Ovur, Arianna Menciassi, Giancarlo Ferrigno, Elena De Momi
Published in: IEEE Transactions on Automation Science and Engineering, Issue 18/2, 2021, Page(s) 484-494, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2020.3045655

An Uncontrolled Manifold Analysis of Arm Joint Variability in Virtual Planar Position and Orientation Telemanipulation

Author(s): Jacopo Buzzi, Elena De Momi, Ilana Nisky
Published in: IEEE Transactions on Biomedical Engineering, Issue 66/2, 2019, Page(s) 391-402, ISSN 0018-9294
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tbme.2018.2842458

Improved Human–Robot Collaborative Control of Redundant Robot for Teleoperated Minimally Invasive Surgery

Author(s): Hang Su, Chenguang Yang, Giancarlo Ferrigno, Elena De Momi
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 1447-1453, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2019.2897145

Improved recurrent neural network-based manipulator control with remote center of motion constraints: Experimental results

Author(s): Hang Su, Yingbai Hu, Hamid Reza Karimi, Alois Knoll, Giancarlo Ferrigno, Elena De Momi
Published in: Neural Networks, Issue 131, 2020, Page(s) 291-299, ISSN 0893-6080
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.neunet.2020.07.033

Collaborative framework for robot-assisted minimally invasive surgery using a 7-DoF anthropomorphic robot

Author(s): J. Sandoval, H. Su, P. Vieyres, G. Poisson, G. Ferrigno, E. De Momi
Published in: Robotics and Autonomous Systems, Issue 106, 2018, Page(s) 95-106, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2018.04.001

A novel muscle-computer interface for hand gesture recognition using depth vision

Author(s): Xuanyi Zhou, Wen Qi, Salih Ertug Ovur, Longbin Zhang, Yingbai Hu, Hang Su, Giancarlo Ferrigno, Elena De Momi
Published in: Journal of Ambient Intelligence and Humanized Computing, Issue 11/11, 2020, Page(s) 5569-5580, ISSN 1868-5137
Publisher: Springer Verlag
DOI: 10.1007/s12652-020-01913-3

Conference proceedings (20)

Tissue Deformation Tracking in Robot-Assisted Nephrectomy

Author(s): M. Vasilkovski, S.E. Ovur, E. De Momi, G. Ferrigno
Published in: Italian Robotics and Intelligent Machines (I-RIM) Conference, 2019
Publisher: Italian Robotics and Intelligent Machines (I-RIM) Conference

Manipulability Optimization Control of a Serial Redundant Robot for Robot-assisted Minimally Invasive Surgery

Author(s): Hang Su, Shuai Li, Jagadesh Manivannan, Luca Bascetta, Giancarlo Ferrigno, Elena De Momi
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 1323-1328, ISBN 978-1-5386-6027-0
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra.2019.8793676

Real-Time 3D Reconstruction in Minimally Invasive Surgery with Quasi-Dense Matching

Author(s): Georgios Zampokas, Konstantinos Tsiolis, Georgia Peleka, Ioannis Mariolis, Sotiris Malasiotis, Dimitrios Tzovaras
Published in: 2018 IEEE International Conference on Imaging Systems and Techniques (IST), 2018, Page(s) 1-6, ISBN 978-1-5386-6628-9
Publisher: IEEE
DOI: 10.1109/ist.2018.8577106

Guaranteed Active Constraints Enforcement on Point Cloud-approximated Regions for Surgical Applications

Author(s): Theodora Kastritsi, Dimitrios Papageorgiou, Iason Sarantopoulos, Sotiris Stavridis, Zoe Doulgeri, George A. Rovithakis
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 8346-8352, ISBN 978-1-5386-6027-0
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra.2019.8793953

Palm Reading: Using Palm Deformation for Fingers and Thumb Pose Estimation

Author(s): Mohammad Fattahi Sani, Mario Esteban Ochoa, Sanja Dogramadzi
Published in: 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019, Page(s) 2964-2970, ISBN 978-1-7281-6321-5
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/robio49542.2019.8961467

Safety-Enhanced Human-Robot Interaction Control of Redundant Robot for Teleoperated Minimally Invasive Surgery

Author(s): Hang Su, Juan Sandoval, Mohatashem Makhdoomi, Giancarlo Ferrigno, Elena De Momi
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 6611-6616, ISBN 978-1-5386-3081-5
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra.2018.8463148

Towards Deformable Registration for AR in Nephrectomy

Author(s): Morelli, A,Moccia, S, Mattos, L, Cordima,G, De Cobelli, O, Ferrigno, G and De Momi, E
Published in: VI National Congress of Bioemgineering, 2018
Publisher: Bioengineering

A Framework for Assisted Tele-operation with Augmented Reality

Author(s): Enayati, N, Chupin, T, De Momi, E, Ferrigno, G
Published in: CRAS 2017- 7th Joint Workshop on New Technologies for Computer/Assisted Surgery, 2017
Publisher: CRAS

Safety Enhancement Framework for Robotic Minimally Invasive Surgery

Author(s): V Penza, E De Momi, N Enayati, T Chupin, J Ortiz, L. S Mattos
Published in: 10th Hamlyn Symposium on Medical Robotics 2017, 2017, Page(s) 51-52, ISBN 9780956377685
Publisher: The Hamlyn Centre, Faculty of Engineering, Imperial College London
DOI: 10.31256/hsmr2017.26

Advanced User Interface for Augmented Information Display on Endoscopic Surgical Images

Author(s): Foti, S, Mariani, A, Chupi, T, Dall'Alba, D, Cheng, Z, Mattos, L, Caldwell, D, Fiorini, P, De Momi, E, Ferrigno, G
Published in: proceeding of 8th joint workshop on New Technologies for Computer/Robot Assisted Surgery, 2018
Publisher: 8th joint workshop on New Technologies for Computer/Robot Assisted Surgery

FCNN-based segmentation of kidney vessels - Towards constraints definition for safe robot-assisted nephrectomy

Author(s): Moccia, S, Foti, S, Rossi, SM, Rota, I, Scotti, M, Toffoli, S, Mattos, LS, De Momi, E, Frontoni, E
Published in: CRAS Joint Workshop, 2018
Publisher: CRAS

Design and Evaluation of an Intraoperative Safety Constraints Definition and Enforcement System for Robot-Assisted Minimally Invasive Surgery

Author(s): Vantadori, L, Mariani, A, Chupin, T, De Momi, E, Ferrigno, G
Published in: CRAS Joint Workshop, 2018
Publisher: CRAS

Inductive Learning of the Surgical Workflow Model through Video Annotations

Author(s): Hirenkumar Nakawala, Elena de Momi, Laura Erica Pescatori, Anna Morelli, Giancarlo Ferrigno
Published in: 2017 IEEE 30th International Symposium on Computer-Based Medical Systems (CBMS), 2017, Page(s) 292-297, ISBN 978-1-5386-1710-6
Publisher: IEEE
DOI: 10.1109/CBMS.2017.91

Using current measurement to estimate palpation and grasping forces in robot-assisted minimally invasive surgery

Author(s): Tzemanaki, A, Abeywardena, S, Psompoulou, E, Melhuish, C, Dogramadzi, S
Published in: CRAS Joint Workshop, 2018
Publisher: CRAS

Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots

Author(s): Sayyaddelshad, I, Psompoulou, E, Abeywadena, S, Tzemanaki, A, Dogramadzi, S
Published in: CRAS Joint Workshop, 2018
Publisher: CRAS

On the stability of robot kinesthetic guidance in the presenceof active constraints

Author(s): Kastritsi, T, Papageorgiou D, Doulgeri Z
Published in: Control Conference (ECC), 2018, Page(s) 622-627
Publisher: IEEE

Intra-Operative 3D Registration of MIS Reconstructed Surfaces to Pre-Operative Models

Author(s): Georgia Peleka, Georgios Zampokas, Ioannis Mariolis, Sotiris Malasiotis, Dimitrios Tzovaras
Published in: 2018 IEEE International Conference on Imaging Systems and Techniques (IST), 2018, Page(s) 1-6, ISBN 978-1-5386-6628-9
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/ist.2018.8577184

Adaptive decoupling control of a serial redundant robot for teleoperated minimally invasive surgery

Author(s): hang su; Giancarlo Ferrigno; ELENA DE MOMI
Published in: IEEE ICRA Workshop on Supervised Autonomy in Surgical Robotics, Issue 1, 2018
Publisher: Institute of Electrical and Electronics Engineers

Manipulation of a whole surgical tool within saferegions utilizing barrier artificial potentials

Author(s): Kastritsi, Theodora; Sarantopoulos, Iason; Stavridis, Sotiris; Papageorgiou, Dimitrios; Doulgeri, Zoe
Published in: XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019, Issue 8, 2019
Publisher: Springer International Publishing
DOI: 10.5281/zenodo.3628312

Stability of Active Constraints Enforcement in Sensitive Regions Defined by Point-Clouds for Robotic Surgical Procedures

Author(s): Theodora Kastritsil; Dimitrios Papageorgiou; Iason Sarantopouloslr; Zoe Doulgeri; George A. Rovithakis
Published in: 2019 18th European Control Conference (ECC), Issue 8, 2019
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.5281/zenodo.3628286

Book chapters (8)

Augmented Reality Toolkit for a Smart Robot-Assisted MIS Platform

Author(s): Georgios Zampokas, Konstantinos Tsiolis, Georgia Peleka, Angeliki Topalidou-Kyniazopoulou, Ioannis Mariolis, Sotiris Malasiotis, Dimitrios Tzovaras
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) 1536-1544, ISBN 978-3-030-31634-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31635-8_190

Control of a da Vinci EndoWrist Surgical Instrument Using a Novel Master Controller

Author(s): Sajeeva Abeywardena, Efi Psomopoulou, Mohammad Fattahi Sani, Antonia Tzemanaki, Sanja Dogramadzi
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) 1545-1550, ISBN 978-3-030-31634-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31635-8_191

Towards Finger Motion Tracking and Analyses for Cardiac Surgery

Author(s): Mohammad Fattahi Sani, Sajeeva Abeywardena, Efi Psomopoulou, Raimondo Ascione, Sanja Dogramadzi
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) 1515-1525, ISBN 978-3-030-31634-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31635-8_188

A Knowledge-Based Graphical Interface for Modeling Surgical Workflows in Robot-Assisted Minimally Invasive Surgery

Author(s): Christos Papadopoulos, Angeliki Topalidou-Kyniazopoulou, Ioannis Mariolis, Aristotelis Sideridis, Emmanouel Papacostas, Dimitrios Tzovaras
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) 1581-1589, ISBN 978-3-030-31634-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31635-8_195

Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System

Author(s): Efi Psomopoulou, Raj Persad, Anthony Koupparis, Sajeeva Abeywardena, Mohammad Fattahi Sani, Chris Melhuish, Sanja Dogramadzi
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) 1571-1580, ISBN 978-3-030-31634-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31635-8_194

Surgeon Training with Haptic Devices for Computer and Robot Assisted Surgery: An Experimental Study

Author(s): Salih Ertug Ovur, Marisa Cobanaj, Luca Vantadori, Elena De Momi, Giancarlo Ferrigno
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) 1526-1535, ISBN 978-3-030-31634-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31635-8_189

Augmented and Virtual Reality in Minimally Invasive Surgery, State of the Art and Future Prospects

Author(s): Michele Catellani, Giovanni Cordima, Ottavio de Cobelli, Efthymios Papasoulis, Emmanuel Papacostas, Aristotelis Sideridis, Georgia Peleka, Georgios Zampokas, Konstantinos Tsiolis, Angeliki Topalidou-Kyniazopoulou, Ioannis Mariolis, Sotiris Malasiotis, Dimitrios Tzovaras
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) 1590-1595, ISBN 978-3-030-31634-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31635-8_196

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