Autonomous Robotics for Transcatheter dEliveRy sYstems

Risultati finali

This document presents the project coordination aspects and the project supporting procedures

describes the planned actions to outreach the nonscientific audience

This document sketches the exploitation strategy to maximize the impact including a strategy to clarify and track the freedomtooperate strategy for IP protection and a draft exploitation plan

Final exploitation plan

This document updates the exploitation strategy to maximize the impact.

Data Management Plan I

Description of the data available in the project and specifications on openness generation access and preservation

Pubblicazioni

Path Planning and Control of a Steerable Catheter for Mitral Valve Repair in an Augmented Reality framework

Autori: Mattia Magro, Andrea Fortuna, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
Pubblicato in: Hamlyn Symposium on Medical Robotics, 2022
Editore: Imperial College London

Optimizing Heart Valve Surgery with Model-Free Catheter Control

Autori: Anna Bicchi; Francessca Fati; Mariagrazia Quacquarelli; Emiliano Votta; Elena De Momi
Pubblicato in: 2023
Editore: Imperial College London

Toward Steerable Needles Autonomous Motion for Mitral Valve Repair

Autori: Mattia Magro, Andrea Fortuna, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
Pubblicato in: ICAR2022 Conferencce, 2022
Editore: IEEE

Towards an autonomous robotic platform for percutaneous procedures

Autori: Valentina Corbetta, Alice Segato, Andrea Fortuna, Tommaso Magni, Mattia Magro, Xiu Zhang and Elena De Momi
Pubblicato in: CRAS 2022, 2022
Editore: University of Naples Federico II

Automatic Vessel Recognition and Segmentation: a novel Deep Learning Architecture with Transfer Learning Approach

Autori: null null, Giovanni Faoro, Stefano Pane, Veronica Iacovacci, Sara Moccia, Arianna Menciassi, null null
Pubblicato in: Proceedings of The 14th Hamlyn Symposium on Medical Robotics 2022, 2022, Pagina/e 41-42
Editore: The Hamlyn Centre, Imperial College London London, UK
DOI: 10.31256/hsmr2022.20

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

Autori: Xuan Thao Ha; Di Wu; Chun-Feng Lai; Mouloud Ourak; Gianni Borghesan; Arianna Menciassi; Emmanuel Vander Poorten
Pubblicato in: IEEE Robotics and Automation Letters, Numero Volume: 7, Numero: 3, 2022, Pagina/e 6910 - 6917
Editore: IEEE Xplore
DOI: 10.1109/lra.2022.3176723

A Preliminary Study Investigating the Influence of Puncture Velocity in Minimally Invasive Cardiovascular Surgery

Autori: Luca Carlini; Anna Bicchi; Junling Fu; Elena De Momi
Pubblicato in: 2024
Editore: IEEE Xplore

Design and implementation of a miniaturized cooling system for Trans-Esophageal Echocardiographic probes in minimally invasive cardiac surgery

Autori: Francesca Parrotta, Giovanni Faoro, Selene Tognarelli, Arianna Menciassi
Pubblicato in: 13th Conference on New Technologies for Computer and Robot Assisted Surgery, 2024
Editore: n.a.

Rate Dependent Prandtl-Ishlinskii (RDPI) Model based motion compensation of Mitraclip® Delivery System

Autori: Syed Zain Mehdi , Mouloud Ourak, and Emmanuel Vander Poorten
Pubblicato in: ACTUATOR 2024, 2024
Editore: IEEE Xplore

Robot-assisted Motion Compensation based on Optical Flow in Ultrasound Images

Autori: Giovanni Faoro, Nicolò Pasini, Andrea Mariani, Laura Morchi, Selene Tognarelli, Arianna Menciassi
Pubblicato in: 2023 IEEE International Ultrasonics Symposium (IUS), 2023
Editore: IEEE
DOI: 10.1109/ius51837.2023.10307405

Inverse Reinforcement Learning algorithm for intra-vascular and intra-cardiac catheter's navigation in Minimally Invasive Surgery

Autori: Andrea Fortuna; Mattia Magro; Angela Peloso; Alice Segato; Elena De Momi
Pubblicato in: Numero 1, 2022
Editore: I-RIM
DOI: 10.5281/zenodo.7531409

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

Autori: Xuan Thao Ha, Izadyar Tamadon, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi and Emmanuel Vander Poorten
Pubblicato in: IEEE SENSORS conference, 2022
Editore: IEEE SENSORS conference

Robotic Actuation and Control of A Catheter for Structural Intervention Cardiology

Autori: Xiu Zhang, Maria Chiara Palumbo, Francesca Perico, Mattia Magro, Andrea Fortuna, Tommaso Magni, Emiliano Votta, Alice Segato and Elena De Momi
Pubblicato in: IROS2022 Conference, 2022
Editore: IEEE

Actuation and Control of a Steerable Catheter for Mitral Valve Repair

Autori: Magro, Mattia; Fortuna, Andrea; Quacquarelli, Mariagrazia; Peloso, Angela; Zhang, Xiu; De Momi, Elena
Pubblicato in: Numero 5, 2022
Editore: I-RIM
DOI: 10.5281/zenodo.7531411

A Multi-DOF Tendon-Actuated Steerable Sheath for Precise Positioning in Percutaneous Left Atrial Appendage Closure

Autori: Nadia D'Alessandro, Selene Tognarelli, Izadyar Tamadon, Emiliano Votta, Arianna Menciassi
Pubblicato in: Hamlyn Symposium on Medical Robotics, 2024
Editore: """The Hamlyn Centre Imperial College London E- Print"""

Design and Preliminary Characterisation of a New Soft Steerable Sheath for Cardiovascular Interventions

Autori: Sridhar, A., Ourak, M., Valdivielso, I., Vander Poorten, E
Pubblicato in: 20th International Conference on Advanced Robotics (ICAR), 2022, Pagina/e 155-160
Editore: IEEE Xplore
DOI: 10.1109/icar53236.2021.9659442

"""Fiber Bragg Grating sensors for temperature estimation and their integration in robotic transesophageal echocardiography: a preliminar study"""

Autori: Ludovica Barozzi, Giovanni Faoro, Madhan Chirumamilla, Selene Tognarelli,Daniela D’Auria, and Arianna Menciassi
Pubblicato in: 12th Conference on New Technologies for Computer and Robot Assisted Surgery, 2023
Editore: n.a.

Path Planner Module for a steerable catheter for Structural Interventional Cardiology using Inverse Reinforcement Learning

Autori: Mattia Magro, Andrea Fortuna, Tomamso Magni, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
Pubblicato in: Hamlyn Symposium on Medical Robotics, 2022
Editore: Imperial College London

Fast path replanning in a dynamic environment in percutaneous cardiac interventions

Autori: Angela Peloso; Emiliano Votta; Elena De Momi
Pubblicato in: 2023
Editore: Italian National Bioengineering Group

Towards autonomous robotic procedure for ultrasound-guided percutaneous cardiac interventions for mitral valve repair

Autori: Angela Peloso; Riccardo Munafó; Veronica Ruozzi; Anna Bicchi; Xiu Zhang; Elena De Momi; Emiliano Votta
Pubblicato in: 2023
Editore: euRobotics AISBL

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

Autori: Xuan Thao Ha, Izadyar Tamadon, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Pubblicato in: 2022 IEEE Sensors, 2022
Editore: IEEE
DOI: 10.1109/sensors52175.2022.9967359

An Artificial Intelligence-Aided Robotic Platform for Ultrasound-Guided Transcarotid Revascularization

Autori: Giovanni Faoro, Sabina Maglio, Stefano Pane, Veronica Iacovacci, Arianna Menciassi
Pubblicato in: IEEE Robotics and Automation Letters, Numero 8, 2024, Pagina/e 2349-2356, ISSN 2377-3766
Editore: IEEE Robotics and Automation Society
DOI: 10.1109/lra.2023.3251844

Sensor Fusion for Shape Reconstruction Using Electromagnetic Tracking Sensors and Multi-Core Optical Fiber

Autori: Xuan Thao Ha, Di Wu, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Pubblicato in: IEEE Robotics and Automation Letters, Numero 8, 2023, Pagina/e 4076-4083, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3280456

Fusion Framework for Coaxial Catheter Tracking

Autori: Xuan Thao Ha, Di Wu, Fabian Trauzettel, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Pubblicato in: IEEE Sensors Journal, Numero 23, 2023, Pagina/e 22580-22591, ISSN 1530-437X
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2023.3309589

A Deep Learning-Based Fully Automated Pipeline for Regurgitant Mitral Valve Anatomy Analysis From 3D Echocardiography

Autori: Riccardo Munafò, Simone Saitta, Giacomo Ingallina, Paolo Denti, Francesco Maisano, Eustachio Agricola, Alberto Redaelli, Emiliano Votta
Pubblicato in: IEEE Access, Numero 12, 2024, Pagina/e 5295-5308, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2024.3349698

Comparative Analysis of Interactive Modalities for Intuitive Endovascular Interventions

Autori: Di Wu, Zhen Li, Mohammad Hasan Dad Ansari, Xuan Thao Ha, Mouloud Ourak, Jenny Dankelman, Arianna Menciassi, Elena De Momi, Emmanuel Vander Poorten
Pubblicato in: IEEE Transactions on Visualization and Computer Graphics, 2024, Pagina/e 1-18, ISSN 1077-2626
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tvcg.2024.3362628

A Multi-Sensorization Approach to Improve Safety in Transesophageal Echocardiography

Autori: Giovanni Faoro, Izadyar Tamadon, Selene Tognarelli, Arianna Menciassi
Pubblicato in: IEEE Transactions on Medical Robotics and Bionics, Numero 6, 2024, Pagina/e 829-838, ISSN 2576-3202
Editore: IEEE Xplore
DOI: 10.1109/tmrb.2024.3407378

Multi-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A Preliminary Comparison of Visual, Haptic, and Visuo-Haptic

Autori: Guido Caccianiga; Andrea Mariani; Chiara Galli de Paratesi; Arianna Menciassi; Elena De Momi
Pubblicato in: IEEE Robotics and Automation Letters, Numero vol. 6, no. 2, 2021, Pagina/e 3801-3808, ISSN 2377-3766
Editore: IEEE Robotics and Automation Society
DOI: 10.1109/lra.2021.3063967

Design and Hysteresis Compensation of a Telerobotic System for Transesophageal Echocardiography

Autori: Xiu Zhang, Izadyar Tamadon, Benjamín Fortuño, Vanessa Cannizzaro, Angela Peloso, Anna Bicchi, Andrea Aliverti, Emiliano Votta, Arianna Menciassi, Elena De Momi
Pubblicato in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2024.3502057

Path tracking control of a steerable catheter in transcatheter cardiology interventions

Autori: Xiu Zhang, Aditya Sridhar, Xuan Thao Ha, Syed Zain Mehdi, Andrea Fortuna, Mattia Magro, Angela Peloso, Anna Bicchi, Mouloud Ourak, Andrea Aliverti, Emiliano Votta, Emmanuel Vander Poorten, Elena De Momi
Pubblicato in: International Journal of Computer Assisted Radiology and Surgery, Numero 19, 2024, Pagina/e 757-766, ISSN 1861-6429
Editore: Springer Nature
DOI: 10.1007/s11548-024-03069-3

Multicontact Localization Framework for Flexible Robots Using a Data-Driven Approach

Autori: Xuan Thao Ha, Aditya Sridhar, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Pubblicato in: IEEE Sensors Journal, Numero 23, 2024, Pagina/e 28993-29002, ISSN 1530-437X
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2023.3326614

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