Robotics for Education

Robotics for Education

robotics for education

introduction

“Sed ut perspiciatis unde omnis iste natus error sit voluptatem accusantium doloremque laudantium, totam rem aperiam, eaque ipsa quae ab illo inventore veritatis et quasi architecto beatae vitae dicta sunt explicabo. Nemo enim ipsam voluptatem quia voluptas sit aspernatur aut odit aut fugit, sed quia consequuntur magni dolores eos qui ratione voluptatem sequi nesciunt. Neque porro quisquam est, qui dolorem ipsum quia dolor sit amet, consectetur, adipisci velit, sed quia non numquam eius modi tempora incidunt ut labore et dolore magnam aliquam quaerat voluptatem. Ut enim ad minima veniam, quis nostrum exercitationem ullam corporis suscipit laboriosam, nisi ut aliquid ex ea commodi consequatur? Quis autem vel eum iure reprehenderit qui in ea voluptate velit esse quam nihil molestiae consequatur, vel illum qui dolorem eum fugiat quo voluptas nulla pariatur?”

Control of surgical robots

The research in ALTAIR in this field focuses on fast computational algorithms for haptics, high performance software architectures and control algorithms for teleoperation, advanced simulation environments for robotic surgery planning and training. Of particular interest are the aspects of patient safety and system modularity.

T

Teleoperation and haptics

Teleoperated systems are devices that allow human operators to interact with remote environments: this is quite important in case of hazardous environments (e.g. nuclear waste disposal) and challenging/critical environments (e.g. space, deep water, surgical robotics). The key point in any teleoperated system is the design of a distributed control architecture: a controller at the master side where the operator is interacting with the haptic devices and another controller at the slave side where the slave robot is interacting with the environment.

Such control architecture has to be stable (i.e., no vibrations and divergent behavior are allowed) and should give high fidelity under any operating conditions and for any environment parameters. In a teleoperation system there are three main unknowns: the operator model, the environment model and the communication channel behavior when no dedicated network is used. On top of that there are the classic challenges of any sample-data systems: quantization, delays due to numerical integration schemes, interactions between the discrete-time subsystems and the continuous-time subsystems, measurement noises, exogenous disturbances, etc.

medical imaging and vision in robotics

The team at the Altair Robotics Lab is involved in computer vision research to support the medical procedures and in techniques specifically applied to surgery and robotic assisted surgery. Our particular focus is on developing real-time algorithms for computing the 3D geometry and motion of the anatomy, surgical camera and instruments, and for combining this information with preoperative and intra-operative imaging modalities and other surgical sensors. The challenge is to find solutions which are robust to the non-rigid and highly dynamic nature of the surgical site and the complex requirements of the surgical procedure and the operating theatre. We have extensive expertise in medical image software that deals with medical image computing, tomography, and medical image real-time acquisition devices such as ultrasound data. Our interest is to help to bring state of the art techniques to operating room for minimally invasive and robotic assisted surgery. By translating computational methods and technology into the operating room we may enable less invasive and more accurate surgical procedures that improve healthcare outcomes and benefit the patient.

Gallery and selected publications

Selected Publications

Maris, B. and Fiorini, P., “Retrospective study on phantom for the application of medical image registration in the operating room scenario”, Biomed 2016, 15-16th February, Innsbruck.

Ferraguti, Federica; Preda, Nicola; Manurung, Auralius; Bonfe, Marcello; Lambercy, Olivier; Gassert, Roger; Muradore, Riccardo; Fiorini, Paolo; Secchi, Cristian, “An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery”, «IEEE TRANSACTIONS ON ROBOTICS» , vol. 31 , n. 5 , 2015 , pp. 1073-1088.

Ferraguti, Federica; Preda, Nicola; De Rossi, Giacomo; Bonfe, Marcello; Muradore, Riccardo; Fiorini, Paolo; Secchi, Cristian, “A Two-Layer Approach for Shared Control in Semi-Autonomous Robotic Surgery”, Proceedings of “European Control Conference (ECC)”, Linz, Austria, July 15-17, 2015 , 2015, pp. 747-752.

Muradore, R.; De Rossi, G.; Bonfe’, M.; Preda, N.; Secchi, C.; Ferraguti, F.; Fiorini, P., “Autonomous Execution of Surgical Tasks: the Next Step in Robotic Surgery”, Proceedings of “Hamyln Symposium on Medical Robotics”, London, UK , June 20-23, 2015 , 2015, pp. 83-84.

Muradore, Riccardo; Fiorini, Paolo; Akgun, Gokhan; Barkana, Duygun Erol; Bonfe, Marcello; Boriero, Fabrizio; Caprara, Andrea; De Rossi, Giacomo; Dodi, Riccardo; Elle, Ole Jakob; Ferraguti, Federica; Gasperotti, Lorenza; Gassert, Roger; Mathiassen, Kim; Handini, Dilla; Lambercy, Olivier; Li, Lin; Kruusmaa, Maarja; Manurung, Auralius Oberman; Meruzzi, Giovanni; Nguyen, Ho Quoc Phuong; Preda, Nicola; Riolfo, Gianluca; Ristolainen, Asko; Sanna, Alberto; Secchi, Cristian; Torsello, Marco; Yantac, Asim Evren, “Development of a Cognitive Robotic System for Simple Surgical Tasks”, «INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS», 2015, pp. 1-20.

D. Bresolin; L. Geretti; R. Muradore; P. Fiorini; T. Villa, “Formal Verification Applied to Robotic Surgery”, Coordination Control of Distributed Systems, Springer, 2015, pp. 347-355.

Bresolin, Davide; Geretti, Luca; Muradore, Riccardo; Fiorini, Paolo; Villa, Tiziano, “Formal verification of robotic surgery tasks by reachability analysis”, «MICROPROCESSORS AND MICROSYSTEMS» , vol. 39 , n. 8 , 2015 , pp. 836-842.

Dall’Alba, D. and Fiorini, P.; “BIPCO: ultrasound feature points based on phase congruency detector and binary pattern descriptor”, Int J CARS, 2015.

Marcello Bonfe’; Nicola Preda; Cristian Secchi; Federica Ferraguti; Riccardo Muradore; Luisa Repele; Giovanni Lorenzi; Paolo Fiorini, “Distributed Control Architecture for Automated Surgical Task Execution with Coordinated Robot Arms”, Proceedings of “19th World Congress The International Federation of Automatic Control” , Cape Town, South Africa , August 24-29, 2014 , 2014 , pp. 10213-10218.

B.M. Maris, P. Fiorini, “Generalized Shapes and Point Sets Correspondence and Registration”, Journal of Mathematical Imaging and Vision, 2014.

Schreiter, D. Bresolin, M. Capiluppi, J. Raczkowsky, P. Fiorini, H. Woern. “Application of Contract-based verification techniques for Hybrid Automata to Surgical Robotic Systems”. In Proceedings of the 13th European Control Conference (ECC), 24-27 Giugno 2014, Strasbourg, Francia.

Perrone, F. Nessi, E. De Momi, F. Boriero, M. Capiluppi, P. Fiorini, G. Ferrigno. “Ontology-based modular architecture for surgical autonomous robots”. In Proceedings of The Hamlyn Symposium of Medical Robotics 2014, 13-14 Luglio 2014, Londra, UK.

Boriero, M. Capiluppi, R. Muradore, P. Fiorini. “Task Ontology Validation in Surgical Robotics”. In proceedings of 4th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), 14-15 Ottobre 2014, Genova, Italia.

Kim Mathiassen; Diego Dall’Alba; Riccardo Muradore; Paolo Fiorini; Ole Jakob Elle, “Real-time biopsy needle tip estimation in 2D ultrasound images”, Proceedings of “IEEE International Conference on Robotics and Automation”, Karlsruhe, Germany , 6-10 May 2013 , 2013 , pp. 4363-4369.

E. De Momi, R. Perrone, L. Schreiter, J. Raczkowsky, F. Boriero, M. Capiluppi, P. Fiorini. “EuRoSurge Workflow: From ontology to surgical task execution”. In proceedings of the 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), 11-13 Settembre 2013, Verona, Italia.

M. Capiluppi, L. Schreiter, P.Fiorini, J. Raczkowsky and H. Woern. “A Fault Analysis Procedure for Surgical Robotic Systems”. In Proceedings of The Hamlyn Symposium of Medical Robotics 2013, 22-25 Giugno, Londra, UK.

M. Capiluppi, L. Schreiter, P. Fiorini, J. Raczkowsky, H. Woern. “Modeling and Verification of a Robotic Surgical System using Hybrid Input/Output Automata”. In Proceedings European Control Conference (ECC) 2013, 17-19 Luglio, Zurigo, Svizzera.

M. Bonfe; F. Boriero; R. Dodi; P. Fiorini; A. Morandi; R. Muradore; L. Pasquale; A. Sanna; C. Secchi, “Towards automated surgical robotics: A requirements engineering approach”, Proceedings of “IEEE International Conference on Biomedical Robotics and Biomechatronics”, Roma , 24-27 June 2012 , 2012 , pp. 56-61.

Dall’Alba, D.; Maris, B.; Fiorini, P.; “A compact navigation system for free hand needle placement in percutaneos procedures”, Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Vilamoura, Portugal.

Bogdan Maris, Debora Botturi, Paolo Fiorini; “A geometric approach to improve performance of a collision detection algorithm derived from GJK and LC algorithms”, IASTED International Conference on Computer Graphics and Imaging -CGIM 2011, Innsbruck, Austria.

Muradore R.; Bresolin D.; Geretti L.; Fiorini P.; Villa T., “Robotic surgery”, «IEEE Robotics and Automation Magazine», vol. 18 , n. 3 , 2011 , pp. 24-32.

Bogdan Maris, Debora Botturi, Paolo Fiorini; “Trajectory planning with task constraints in densely filled environments”, 2010, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan.

Botturi D.; Fiorini P.; Muradore R.; Quaglia D., “Simulation of networked control systems with applications to telerobotics”, Proceedings of “European Control Conference (ECC)”, Budapest, Hungary, 23-26 Aug., 2009 , 2009, pp. 1481-1486.

research projects

Projects developed by ALTAIR along the years, including EU and Italian grants.

HSMR 2022

HSMR 2022

From 26 to 29 June meet us at the Hamlyn Symposium on Medical Robotics 2022. Take a look at our organized activities and join us!

want to know more?

go to altair timeline

Rehabilitation Robotics

Rehabilitation Robotics

rehabilitation robotics

introduction

Rehabilitation robotics aims at taking advantage of robotic technology for rehabilitation treatment of the people with neurological disorders and physical impairments. From a clinical point of view there is the need of a new generation of rehabilitation robots and clinical protocols that will be more effective in helping patients.

ALTAIR Lab objective  is to study and develop enabling technologies for novel rehabilitation robots which exhibits compliant behavior and patient-adaptation. Also we think that future robots will be low cost and mobile. In fact traditional rehabilitation robots are very complex system, they are usually expensive and cumbersome machines and only large therapeutic centers can afford their cost and storage. Instead we focus on simpler and mobile systems at affordable price that can be even be used at home or in small centers.

research topics

  • Active robotic devices based on compliant principles and minimal actuation, see our prototype.
  • Locomotion controllers of passive dynamic walkers
  • Force and impedance control of stiff and soft robots, see our control library

research project in this field

ARGO, the Active Reciprocated Gait Orthosis

ARGO structure is based on a commercial passive Reciprocated Gait Orthosis (RGO) for Cerebral Palsy (CP) children, which has been modified to accomodate sensors and actuators. ARGO is intended for patients who can still apply a certain amount of force with their legs, at least enough to slightly raise up a feet. Thus, we want to motivate the patient to use his muscles by amplifying or facilitating the movements, rather than binding the trajectory to a walking pattern. In fact, although it is possible to find some common patterns on CP patient’s walk (crouch gait, scissor walking or toe walking), the actual walk varies a lot from patient to patient. Each walking strategy comes from the adaptation of the patient to his own body’s pathology, which are highly specific. Thus, forcing the user to adopt a normal walk would be not only useless, but possibly even dangerous for the patient. This drove us to the exigence of developing a non-coercive device, able to detect the force that the wearer is applying with his thigh, and appropriately compensate the joint torque. This is obtained using force control technology. Another innovative aspect is the minimal actuator arrangement which allows to reduce the complexity and cost while exhibiting high system transparency. In fact we arrange pneumatic artificial muscles in non-antagonist configuration exploiting the NFW mechanical reciprocation.

Selected Publications

A. Calanca, R. Muradore, and P. Fiorini, “A Review of Algorithms for Compliant Control of Stiff and Fixed Compliance Robots,” IEEE Trans. Mechatronics, vol. Pre-print, 2014.

A. Calanca, R. Muradore, and P. Fiorini, “Passive Impedance Control of Series Elastic Actuators: Overcoming the Physical Spring Stiffness,” Submitt. to RA Mag.

A. Calanca, R. Muradore, and P. Fiorini, “Passivity of Human-Adaptive Control of Elastic Actuators,” Submitt. to IEEE Trans. Robot.

A. Calanca and P. Fiorini, “Human-Adaptive Control of Series Elastic Actuators,” Robotica, vol. 2, no. 08, pp. 1301–1316, 2014.

A. Calanca and P. Fiorini, “On The Role of Compliance In Force Control,” in International Conference on intelligent Autonomous Systems IAS-13, 2014.

A. Calanca, L. Capisani, and P. Fiorini, “Robust Force Control of Series Elastic Actuators,” Actuators, Spec. Issue Soft Actuators, vol. 3, no. 3, pp. 182–204, 2014.

A. Calanca, S. Piazza, and P. Fiorini, “A motor learning oriented, compliant and mobile Gait Orthosis,” Appl. Bionics Biomech., vol. 9, no. 1, pp. 15–27, 2012.

N. Smania, M. Gandolfi, V. Marconi, A. Calanca, C. Geroin, S. Piazza, P. Bonetti, P. Fiorini, A. Cosentino, C. Capelli, D. Conte, M. Bendinelli, D. Munari, P. Ianes, A. Fiaschi, and A. Picelli, “Applicability of a new robotic walking aid in a patient with cerebral palsy,” Eur. J. Phys. Rehabil. Med., vol. 48, no. 1, pp. 47–53, 2012.

altair research projects

Projects developed by ALTAIR along the years, including EU and Italian grants.

Thermal X wins the Start Cup Veneto

Thermal X wins the Start Cup Veneto

The first prize of the Start Cup Veneto 2022 goes to the ThermalX group of the IT department of the University of Verona and the ALTAIR Robotics Lab.

DAUSY PhD research program

DAUSY PhD research program

OPEN POSITION “Industrial PhD in Causal machine learning [Scholarship]. Deadline for application: 12/09/22 Starting date: November 1, 2022. APPLY NOW

HSMR 2022

HSMR 2022

From 26 to 29 June meet us at the Hamlyn Symposium on Medical Robotics 2022. Take a look at our organized activities and join us!

want to know more?

go to altair timeline

Collaborative Robots

Collaborative Robots

Collaborative robots

introduction

Human-robot collaboration has an important role in smart factories since it contributes to the achievement of higher productivity and greater efficiency. Breaking workspace division between human and robot is challenging due to safety rules and interaction design.

Despite the complications there are strong pressures from research and companies to develop new paradigms because the resulting well-being would be revolutionary for industries. Other types of safety systems need to be introduced, so that collisions can be prevented by detecting obstacles as well as their motion, applying appropriate avoidance strategies, and harm to the human can be minimized in case of an unexpected or unavoidable impact.

research

In the Altair laboratory, research is carried out on automatic process modeling of collaborative processes and on obstacle avoidance. Recognizing the phases of a collaborative process can be useful for developing more efficient security and assistance systems in an Industry 4.0 perspective. We work also on the optimization of trajectory for surface recognition.

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Automatic Process Modeling

Automatic process modelling (APM) is an enabling technology for the development of intelligent manufacturing systems (IMSs). The analysis of obtained models enables the prompt detection of error-prone steps and the design of proper mitigation strategies, in all aspects of the manufacturing process, from parameter optimization to development of customized personnel training.

Gallery and selected publications

Selected Publications

research projects

Projects developed by ALTAIR along the years, including EU and Italian grants.

HSMR 2022

HSMR 2022

From 26 to 29 June meet us at the Hamlyn Symposium on Medical Robotics 2022. Take a look at our organized activities and join us!

want to know more?

go to altair timeline

Robotic Surgery

Robotic Surgery

robotic surgery

introduction

Over the last decade, Robot-assisted Surgery has become a common feature of many operating rooms mainly in the form of teleoperated minimally invasive surgery. In certain interventions, robotic surgery has become the “golden standard”, defining the best practice for that procedure.

Although the effective clinical outcome of robotic surgery as been questioned, as compared to the equivalent laparoscopic procedure performed by top surgeons, the introduction of robots in the operating theatre has raised the average quality of the interventions and made procedures less fatiguing for surgeons.

Control of surgical robots

The research in ALTAIR in this field focuses on fast computational algorithms for haptics, high performance software architectures and control algorithms for teleoperation, advanced simulation environments for robotic surgery planning and training. Of particular interest are the aspects of patient safety and system modularity.

T

Teleoperation and haptics

Teleoperated systems are devices that allow human operators to interact with remote environments: this is quite important in case of hazardous environments (e.g. nuclear waste disposal) and challenging/critical environments (e.g. space, deep water, surgical robotics). The key point in any teleoperated system is the design of a distributed control architecture: a controller at the master side where the operator is interacting with the haptic devices and another controller at the slave side where the slave robot is interacting with the environment.

Such control architecture has to be stable (i.e., no vibrations and divergent behavior are allowed) and should give high fidelity under any operating conditions and for any environment parameters. In a teleoperation system there are three main unknowns: the operator model, the environment model and the communication channel behavior when no dedicated network is used. On top of that there are the classic challenges of any sample-data systems: quantization, delays due to numerical integration schemes, interactions between the discrete-time subsystems and the continuous-time subsystems, measurement noises, exogenous disturbances, etc.

medical imaging and vision in robotics

The team at the Altair Robotics Lab is involved in computer vision research to support the medical procedures and in techniques specifically applied to surgery and robotic assisted surgery. Our particular focus is on developing real-time algorithms for computing the 3D geometry and motion of the anatomy, surgical camera and instruments, and for combining this information with preoperative and intra-operative imaging modalities and other surgical sensors. The challenge is to find solutions which are robust to the non-rigid and highly dynamic nature of the surgical site and the complex requirements of the surgical procedure and the operating theatre. We have extensive expertise in medical image software that deals with medical image computing, tomography, and medical image real-time acquisition devices such as ultrasound data. Our interest is to help to bring state of the art techniques to operating room for minimally invasive and robotic assisted surgery. By translating computational methods and technology into the operating room we may enable less invasive and more accurate surgical procedures that improve healthcare outcomes and benefit the patient.

Gallery and selected publications

Selected Publications

Maris, B. and Fiorini, P., “Retrospective study on phantom for the application of medical image registration in the operating room scenario”, Biomed 2016, 15-16th February, Innsbruck.

Ferraguti, Federica; Preda, Nicola; Manurung, Auralius; Bonfe, Marcello; Lambercy, Olivier; Gassert, Roger; Muradore, Riccardo; Fiorini, Paolo; Secchi, Cristian, “An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery”, «IEEE TRANSACTIONS ON ROBOTICS» , vol. 31 , n. 5 , 2015 , pp. 1073-1088.

Ferraguti, Federica; Preda, Nicola; De Rossi, Giacomo; Bonfe, Marcello; Muradore, Riccardo; Fiorini, Paolo; Secchi, Cristian, “A Two-Layer Approach for Shared Control in Semi-Autonomous Robotic Surgery”, Proceedings of “European Control Conference (ECC)”, Linz, Austria, July 15-17, 2015 , 2015, pp. 747-752.

Muradore, R.; De Rossi, G.; Bonfe’, M.; Preda, N.; Secchi, C.; Ferraguti, F.; Fiorini, P., “Autonomous Execution of Surgical Tasks: the Next Step in Robotic Surgery”, Proceedings of “Hamyln Symposium on Medical Robotics”, London, UK , June 20-23, 2015 , 2015, pp. 83-84.

Muradore, Riccardo; Fiorini, Paolo; Akgun, Gokhan; Barkana, Duygun Erol; Bonfe, Marcello; Boriero, Fabrizio; Caprara, Andrea; De Rossi, Giacomo; Dodi, Riccardo; Elle, Ole Jakob; Ferraguti, Federica; Gasperotti, Lorenza; Gassert, Roger; Mathiassen, Kim; Handini, Dilla; Lambercy, Olivier; Li, Lin; Kruusmaa, Maarja; Manurung, Auralius Oberman; Meruzzi, Giovanni; Nguyen, Ho Quoc Phuong; Preda, Nicola; Riolfo, Gianluca; Ristolainen, Asko; Sanna, Alberto; Secchi, Cristian; Torsello, Marco; Yantac, Asim Evren, “Development of a Cognitive Robotic System for Simple Surgical Tasks”, «INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS», 2015, pp. 1-20.

D. Bresolin; L. Geretti; R. Muradore; P. Fiorini; T. Villa, “Formal Verification Applied to Robotic Surgery”, Coordination Control of Distributed Systems, Springer, 2015, pp. 347-355.

Bresolin, Davide; Geretti, Luca; Muradore, Riccardo; Fiorini, Paolo; Villa, Tiziano, “Formal verification of robotic surgery tasks by reachability analysis”, «MICROPROCESSORS AND MICROSYSTEMS» , vol. 39 , n. 8 , 2015 , pp. 836-842.

Dall’Alba, D. and Fiorini, P.; “BIPCO: ultrasound feature points based on phase congruency detector and binary pattern descriptor”, Int J CARS, 2015.

Marcello Bonfe’; Nicola Preda; Cristian Secchi; Federica Ferraguti; Riccardo Muradore; Luisa Repele; Giovanni Lorenzi; Paolo Fiorini, “Distributed Control Architecture for Automated Surgical Task Execution with Coordinated Robot Arms”, Proceedings of “19th World Congress The International Federation of Automatic Control” , Cape Town, South Africa , August 24-29, 2014 , 2014 , pp. 10213-10218.

B.M. Maris, P. Fiorini, “Generalized Shapes and Point Sets Correspondence and Registration”, Journal of Mathematical Imaging and Vision, 2014.

Schreiter, D. Bresolin, M. Capiluppi, J. Raczkowsky, P. Fiorini, H. Woern. “Application of Contract-based verification techniques for Hybrid Automata to Surgical Robotic Systems”. In Proceedings of the 13th European Control Conference (ECC), 24-27 Giugno 2014, Strasbourg, Francia.

Perrone, F. Nessi, E. De Momi, F. Boriero, M. Capiluppi, P. Fiorini, G. Ferrigno. “Ontology-based modular architecture for surgical autonomous robots”. In Proceedings of The Hamlyn Symposium of Medical Robotics 2014, 13-14 Luglio 2014, Londra, UK.

Boriero, M. Capiluppi, R. Muradore, P. Fiorini. “Task Ontology Validation in Surgical Robotics”. In proceedings of 4th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), 14-15 Ottobre 2014, Genova, Italia.

Kim Mathiassen; Diego Dall’Alba; Riccardo Muradore; Paolo Fiorini; Ole Jakob Elle, “Real-time biopsy needle tip estimation in 2D ultrasound images”, Proceedings of “IEEE International Conference on Robotics and Automation”, Karlsruhe, Germany , 6-10 May 2013 , 2013 , pp. 4363-4369.

E. De Momi, R. Perrone, L. Schreiter, J. Raczkowsky, F. Boriero, M. Capiluppi, P. Fiorini. “EuRoSurge Workflow: From ontology to surgical task execution”. In proceedings of the 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), 11-13 Settembre 2013, Verona, Italia.

M. Capiluppi, L. Schreiter, P.Fiorini, J. Raczkowsky and H. Woern. “A Fault Analysis Procedure for Surgical Robotic Systems”. In Proceedings of The Hamlyn Symposium of Medical Robotics 2013, 22-25 Giugno, Londra, UK.

M. Capiluppi, L. Schreiter, P. Fiorini, J. Raczkowsky, H. Woern. “Modeling and Verification of a Robotic Surgical System using Hybrid Input/Output Automata”. In Proceedings European Control Conference (ECC) 2013, 17-19 Luglio, Zurigo, Svizzera.

M. Bonfe; F. Boriero; R. Dodi; P. Fiorini; A. Morandi; R. Muradore; L. Pasquale; A. Sanna; C. Secchi, “Towards automated surgical robotics: A requirements engineering approach”, Proceedings of “IEEE International Conference on Biomedical Robotics and Biomechatronics”, Roma , 24-27 June 2012 , 2012 , pp. 56-61.

Dall’Alba, D.; Maris, B.; Fiorini, P.; “A compact navigation system for free hand needle placement in percutaneos procedures”, Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Vilamoura, Portugal.

Bogdan Maris, Debora Botturi, Paolo Fiorini; “A geometric approach to improve performance of a collision detection algorithm derived from GJK and LC algorithms”, IASTED International Conference on Computer Graphics and Imaging -CGIM 2011, Innsbruck, Austria.

Muradore R.; Bresolin D.; Geretti L.; Fiorini P.; Villa T., “Robotic surgery”, «IEEE Robotics and Automation Magazine», vol. 18 , n. 3 , 2011 , pp. 24-32.

Bogdan Maris, Debora Botturi, Paolo Fiorini; “Trajectory planning with task constraints in densely filled environments”, 2010, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan.

Botturi D.; Fiorini P.; Muradore R.; Quaglia D., “Simulation of networked control systems with applications to telerobotics”, Proceedings of “European Control Conference (ECC)”, Budapest, Hungary, 23-26 Aug., 2009 , 2009, pp. 1481-1486.

research projects

Projects developed by ALTAIR along the years, including EU and Italian grants.

HSMR 2022

HSMR 2022

From 26 to 29 June meet us at the Hamlyn Symposium on Medical Robotics 2022. Take a look at our organized activities and join us!

want to know more?

go to altair timeline