A5064024357- Soft Robotics and Applications
- Surgical Simulation and Training
- Robot Manipulation and Learning
- Augmented Reality Applications
- Iterative Learning Control Systems
- Robotic Mechanisms and Dynamics
- Teleoperation and Haptic Systems
- Adaptive Control of Nonlinear Systems
- Fault Detection and Control Systems
- AI-based Problem Solving and Planning
- Simulation Techniques and Applications
- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Robotics and Automated Systems
University of Verona
2020-2024
The next stage for robotics development is to introduce autonomy and cooperation with human agents in tasks that require high levels of precision and/or exert considerable physical strain. To guarantee the highest possible safety standards, best approach devise a deterministic automaton performs identically each operation. Clearly, such inevitably fails adapt itself changing environments or different companions. In surgical scenario, variability happens timing actions performed within same...
Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability empower surgeons' dexterity skills. The research on new Multi-Robots Surgery (MRS) platform is cardinal development of a SARAS surgical robotic platform, which aims at carrying out autonomously assistants tasks during R-MIS procedures. In this work, we will present MRS validation protocol, framed in order assess:...
In this article, we propose a novel bilateral teleoperation architecture for multiarms system based on the two-layer approach. Exploiting concept of shared energy tank, passivity layer guarantees overall with respect to destabilizing factors such as time delays in communication channel. The desired behavior can then be freely designed transparency layer. formulation tank is first revised, allowing more efficient use energy, and extended, explicitly both admittance impedance causality robots....
In this paper we propose a new methodology to model surgical procedures that is specifically tailored semi-autonomous robotic surgery. We use restricted version of statecharts merge the bottom-up approach, based on data-driven techniques (e.g., machine learning), with top-down approach knowledge representation techniques. consider medical about procedure and sensing environment in two concurrent regions facilitate re-usability adaptability modules. Our allows producing well defined...
This paper presents a novel dynamic motion planner designed to provide safe motions in the context of Smart Autonomous Robot Assistant Surgeon (SARAS) surgical platform. SARAS is multi-robot autonomous platform execute auxiliary tasks Minimally Invasive Surgeries (MIS) with high degree autonomy. The development robotic systems level autonomy and reliability requires perceive workspace human actions, contextualize them workflow, and, finally, plan dynamically control required motions. relies...
This paper presents a novel endoscope design for laparoscopic surgery that has been specifically tailored to provide both stereoscopic view the surgeon and high-accuracy 3D reconstruction an advanced visualization of anatomical environment. The former helps main in teleoperating robotic minimally-invasive system (R-MIS) while latter provides necessary data upcoming autonomous surgical procedure implementations manner akin current development driving systems. To this aim, we created initial...
Delta Robots belong to a class of parallel robots widely used in industrial production processes, mostly for pick-and-place operations. The most relevant characteristics are the high speed and extremely favorable ratio between maximum payload weight robot itself. A reliable dynamic model is needed implement torque controllers that reduce unnecessary accelerations so mechanical vibrations. Moreover, when mass pickable object unknown, it crucial identify with sufficient precision contribution...