A5001597507- Adaptive optics and wavefront sensing
- Soft Robotics and Applications
- Robotic Path Planning Algorithms
- Teleoperation and Haptic Systems
- Advanced optical system design
- Advanced Control Systems Optimization
- Surgical Simulation and Training
- Robot Manipulation and Learning
- Stability and Control of Uncertain Systems
- Robotics and Sensor-Based Localization
- Fault Detection and Control Systems
- Augmented Reality Applications
- Petri Nets in System Modeling
- Optical Systems and Laser Technology
- Control and Stability of Dynamical Systems
- Control and Dynamics of Mobile Robots
- Modular Robots and Swarm Intelligence
- Optical Coherence Tomography Applications
- Robotics and Automated Systems
- Manufacturing Process and Optimization
- Network Time Synchronization Technologies
- Distributed Control Multi-Agent Systems
- Control Systems and Identification
- Healthcare Technology and Patient Monitoring
- Optical Wireless Communication Technologies
University of Verona
2016-2025
National Institute of Optics
2022-2023
Center for Biomolecular Nanotechnologies
2019
Altair Engineering (United States)
2019
University of Modena and Reggio Emilia
2016
Université Sorbonne Paris Nord
2012
European Southern Observatory
2006-2009
Netherlands Institute for Radio Astronomy
2008
University of Padua
2003-2006
Introducing some form of autonomy in robotic surgery is being considered by the medical community to better exploit potential robots operating room. However, significant technological steps have occur before even smallest autonomous task ready be presented regulatory authorities. In this paper, we address initial process, particular development control concepts satisfying basic safety requirements surgery, i.e., providing robot with necessary dexterity and a stable smooth behavior surgical...
In this paper, a statistical approach to fault detection and isolation (FDI) of robot manipulators is presented. It based on method called partial least squares (PLS) the inverse dynamic model robot. PLS well-established linear technique in process control for identifying monitoring industrial plants. Since dynamics can be represented as static dynamical parameters, it possible use algorithms confidence regions developed decision theory. This has several advantages with respect standard FDI...
The presence of weeds poses a common and persistent problem in crop cultivation, affecting both yield overall agricultural productivity. Common solutions to the typically include chemical pesticides, mulching, or mechanical weeding performed by implements humans. Even if effective, those techniques have several drawbacks, including soil water pollution, high cost-effectiveness ratio stress for operators. In recent years, novel robotic been proposed overcome current limitations move towards...
Harvesting fruits and vegetables is a complex task worth to be fully automated with robotic systems. It involves several precision tasks that have performed accuracy the appropriate amount of force. Classical mechanical grippers, due control stiffness, cannot always used harvest vegetables. Instead, use soft materials could provide visible advancement. In this work, we propose soft, sensorized gripper for harvesting applications. The sensing by tracking set markers integrated into part...
Combining the strengths of surgical robotics and minimally invasive surgery (MIS) holds potential to revolutionize interventions. The MIS advantages for patients are obvious, but use instrumentation suitable often translates in limiting surgeon capabilities (eg, reduction dexterity maneuverability demanding navigation around organs). To overcome these shortcomings, application soft technologies approaches can be beneficial. devices based on materials is already demonstrating several all...
We apply formal methods to lay and streamline theoretical foundations reason about Cyber-Physical Systems (CPSs) cyber-physical attacks. focus on integrity DoS attacks sensors actuators of CPSs, the timing aspects these Our contributions are threefold: (1) we define a hybrid process calculus model both CPSs (2) threat provide means assess attack tolerance/vulnerability with respect given attack. (3) formalise how estimate impact successful CPS investigate possible quantifications success...
GALACSI is one of the Adaptive Optics (AO) systems part ESO Facility (AOF). It will use VLT 4-Laser Guide Stars system, high speed and low noise WaveFront Sensor cameras (<1e-, 1000Hz) Deformable Secondary Mirror (DSM) SPARTA Real Time Computer to sharpen images enhance faint object detectability MUSE Instrument. an Integral Field Spectrograph working at wavelengths from 465nm 930nm. implements 2 different AO modes; in Wide Mode (WFM) it perform Ground Layer correction collected energy a...
The introduction of robotic surgery within the operating rooms has significantly improved quality many surgical procedures. Recently, research on medical systems focused increasing level autonomy in order to give them possibility carry out simple actions autonomously. This paper reports development technologies for introducing automation workflow. results have been obtained during ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR). main goal is demonstrate that...
The performance of networked control systems is strongly affected by time-varying transmission delays. A traditional solution to this problem consists storing arriving packets in a buffer which smooths delay jitter at the cost an increased constant delay. size based on either long-term or worst case analysis network behavior leading poor when instantaneous different. To overcome problem, paper proposes following: 1) adapt according actual variation; 2) resize content using cubic spline...
Percutaneous image-guided tumor ablation is a minimally invasive surgical procedure for the treatment of malignant tumors using needle-shaped probe. Automating insertion needle by robot could increase accuracy and decrease execution time procedure. Extracting tip position from ultrasound (US) images paramount importance verifying that not approaching any forbidden regions (e.g., major vessels ribs), also be used as direct feedback signal to inserting needle. A method estimating has...
For in vivo mouse retinal imaging, especially with Adaptive Optics instruments, application of a contact lens is desirable, as it allows maintenance cornea hydration and helps to prevent cataract formation during lengthy imaging sessions. However, since the refractive elements eye (cornea lens) serve objective for most systems, use lens, even 0 Dpt. power, can alter system's optical properties. In this investigation we examined effective focal length change aberrations that arise from lens....
In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to single energy tank. This allows minimize conservativeness due passivity preservation and increment level transparency that can be achieved. The implemented on realistic surgical scenario developed within EU-funded SARAS project.
Three-dimensional (3D) imaging and infrared (IR) thermography are powerful tools in many areas engineering sciences. Their joint use is of great interest the buildings sector, allowing inspection non-destructive testing elements as well an evaluation energy efficiency. When dealing with large complex structures, (particularly historical) generally are, 3D enhanced by Unmanned Aerial Vehicles (UAV—also known drones). The aim this paper to propose a simple cost-effective system for aerial...
Autonomy is the frontier of research in robotic surgery and its aim to improve quality surgical procedures next future. One fundamental requirement for autonomy advanced perception capability through vision sensors. In this paper, we propose a novel calibration technique scenario with da Vinci robot. Calibration camera robot necessary precise positioning tools order emulate high performance surgeons. Our tailored RGB-D camera. Different tests performed on relevant use cases prove that...
We present in this paper an analysis of several tip-tilt on-sky data registered on adaptive optics systems installed different telescopes (Gemini South, William Herschel Telescope, Large Binocular Very Tele scope, Subaru). Vibration peaks can be detected, and it is shown that their presence location may vary, origin not always easy to determine. Mechanical solution have been realized mitigate vibrations are presented. Nevertheless, residual still affect the instruments' performance, ranging...
The research on medical robotics is starting to address the autonomous execution of surgical tasks, without effective intervention humans apart from supervision and task configuration. This paper addresses complete automation a robot by combining advanced sensing, cognition control capabilities, developed according rigorous assessment requirements, formal specification robotic system behavior software design implementation based solid tools frameworks. In particular, focuses cognitive...
For an autonomous robotic system, monitoring surgeon actions and assisting the main during a procedure can be very challenging. The challenges come from peculiar structure of surgical scene, greater similarity in appearance performed via tools cavity compared to, say, human unconstrained environments, as well motion endoscopic camera. This paper presents ESAD, first large-scale dataset designed to tackle problem action detection minimally invasive surgery. ESAD aims at contributing increase...
The paper describes a design specification process for the development of novel and intelligent surgical robots. Nowadays, robots are usually controlled by surgeons manually using teleoperation. possibility to carry out simple actions automatically has been subject academical research, but very few real-world applications exist. main objective this research is address realistic case studies develop systems methods provide with autonomous robotic assistants, performing basic combining...
In this article, we discuss formal methods for the verification of properties control systems designed autonomous robotic systems. last few decades, robotics played a relevant role in progress surgery. The use robots operating rooms has given rise to new terminologies: robot-assisted surgery, medical robotics, rehabilitation telesurgery, assistive systems, and so on. Since surgery is relatively field investigation, there are no established bringing concepts operational procedures surgical...