Albert Hernansanz — accepted AI-conference papers

2022

Colonoscopy Navigation using End-to-End Deep Visuomotor Control: A User Study

Ameya Pore, Martina Finocchiaro, Diego Dall'Alba, Albert Hernansanz, Gastone Ciuti, Alberto Arezzo +3

IROS 2022poster

Flexible Endoscopes (FEs) for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic FEs with autonomous control represent a viable solution to reduce the workload of endoscopists and the training ti…

Cited by 16 Source ↗code ↗Scholar ↗

2020

Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for Autonomous Surgical Robots

Narcís Sayols, Alessio Sozzi, Nicola Piccinelli, Albert Hernansanz, Alicia Casals, Marcello Bonfè +1

ICRA 2020poster

This paper addresses the generation of collision-free trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the…

Cited by 8 Source ↗Scholar ↗