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pro vyhledávání: '"de Momi, Elena"'
Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast production constraints. To help address this challenge, we present PRO-
Externí odkaz:
http://arxiv.org/abs/2409.06864
Autor:
Zeinoddin, Mona Sheikh, Lena, Chiara, Qu, Jiongqi, Carlini, Luca, Magro, Mattia, Kim, Seunghoi, De Momi, Elena, Bano, Sophia, Grech-Sollars, Matthew, Mazomenos, Evangelos, Alexander, Daniel C., Stoyanov, Danail, Clarkson, Matthew J., Islam, Mobarakol
Robotic-assisted surgery (RAS) relies on accurate depth estimation for 3D reconstruction and visualization. While foundation models like Depth Anything Models (DAM) show promise, directly applying them to surgery often yields suboptimal results. Full
Externí odkaz:
http://arxiv.org/abs/2408.17433
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attach
Externí odkaz:
http://arxiv.org/abs/2406.02171
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots capable of per
Externí odkaz:
http://arxiv.org/abs/2402.13915
Autor:
Li, Zhen, Lambranzi, Chiara, Wu, Di, Segato, Alice, De Marco, Federico, Poorten, Emmanuel Vander, Dankelman, Jenny, De Momi, Elena
Publikováno v:
IEEE Transactions on Biomedical Engineering (TBME) 2024
Objective: Navigation through tortuous and deformable vessels using catheters with limited steering capability underscores the need for reliable path planning. State-of-the-art path planners do not fully account for the deformable nature of the envir
Externí odkaz:
http://arxiv.org/abs/2402.00537
Autor:
Fu, Junling, Pecorella, Matteo, Iovene, Elisa, Palumbo, Maria Chiara, Rota, Alberto, Redaelli, Alberto, Ferrigno, Giancarlo, De Momi, Elena
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perform puncture operations afterward. The procedure is currently performed
Externí odkaz:
http://arxiv.org/abs/2401.04492
Autor:
Chen, Ziyang, Cruciani, Laura, Fan, Ke, Fontana, Matteo, Lievore, Elena, De Cobelli, Ottavio, Musi, Gennaro, Ferrigno, Giancarlo, De Momi, Elena
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we proposed a marker
Externí odkaz:
http://arxiv.org/abs/2309.07693
Instance segmentation of surgical instruments is a long-standing research problem, crucial for the development of many applications for computer-assisted surgery. This problem is commonly tackled via fully-supervised training of deep learning models,
Externí odkaz:
http://arxiv.org/abs/2309.01723
Autor:
Lagomarsino, Marta, Lorenzini, Marta, Constable, Merryn Dale, De Momi, Elena, Becchio, Cristina, Ajoudani, Arash
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to grasp the
Externí odkaz:
http://arxiv.org/abs/2306.07205
Autor:
Pore, Ameya, Li, Zhen, Dall'Alba, Diego, Hernansanz, Albert, De Momi, Elena, Menciassi, Arianna, Casals, Alicia, Denkelman, Jenny, Fiorini, Paolo, Poorten, Emmanuel Vander
Increased demand for less invasive procedures has accelerated the adoption of Intraluminal Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and vessels. As navigation through lumens and vessels is quite complex, inter
Externí odkaz:
http://arxiv.org/abs/2305.04027