Autonomy in surgical robotics
This review examines the dichotomy between automatic and autonomous behaviors in
surgical robots, maps the possible levels of autonomy of these robots, and describes the …
surgical robots, maps the possible levels of autonomy of these robots, and describes the …
Accelerating surgical robotics research: A review of 10 years with the da vinci research kit
Robotic-assisted surgery is now well established in clinical practice and has become the
gold-standard clinical treatment option for several clinical indications. The field of robotic …
gold-standard clinical treatment option for several clinical indications. The field of robotic …
Vision-based dynamic virtual fixtures for tools collision avoidance in robotic surgery
In robot-aided surgery, during the execution of typical bimanual procedures such as
dissection, surgical tools can collide and create serious damage to the robot or tissues. The …
dissection, surgical tools can collide and create serious damage to the robot or tissues. The …
Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments
A virtual fixture (VF) is a constraint built into software that assists a human operator in
moving a remote tool along a preferred path via an augmented guidance force to improve …
moving a remote tool along a preferred path via an augmented guidance force to improve …
[PDF][PDF] Cathsim: An open-source simulator for autonomous cannulation
Autonomous robots in endovascular operations have the potential to navigate circulatory
systems safely and reliably while decreasing the susceptibility to human errors. However …
systems safely and reliably while decreasing the susceptibility to human errors. However …
A passive admittance controller to enforce remote center of motion and tool spatial constraints with application in hands-on surgical procedures
The restriction of feasible motions of a manipulator link constrained to move through an entry
port is a common problem in minimally invasive surgery procedures. Additional spatial …
port is a common problem in minimally invasive surgery procedures. Additional spatial …
[HTML][HTML] Using a Guidance Virtual Fixture on a Soft Robot to Improve Ureteroscopy Procedures in a Phantom
Manipulating a flexible ureteroscope is difficult, due to its bendable body and hand–eye
coordination problems, especially when exploring the lower pole of the kidney. Though …
coordination problems, especially when exploring the lower pole of the kidney. Though …
Online correction of task registration and robot models from user input
In application domains such as surgical robotics, fully autonomous control remains a long-
term ambition and the systems are mostly teleoperated. In this article, the presence of an …
term ambition and the systems are mostly teleoperated. In this article, the presence of an …
A Learning-Based Shared Control Approach for Contact Tasks
This work presents a novel shared control architecture dedicated to teleoperated contact
tasks. We use Learning from demonstration as a framework to learn a task model that …
tasks. We use Learning from demonstration as a framework to learn a task model that …
Robotics goes PRISMA
In this article, we review the main results achieved by the research activities carried out at
PRISMA Lab of the University of Naples Federico II where, for 35 years, an interdisciplinary …
PRISMA Lab of the University of Naples Federico II where, for 35 years, an interdisciplinary …