5 accepted papers
Minimally Invasive Percutaneous Surgery (MIPS) has revolutionized medical practice by allowing access to internal organs through needle puncture, thus avoiding large incisions. Tele-operated robotic systems address MIPS challenges, but current literature lacks real-time needle path re-planning durin
Robot-aided rehabilitation is pushing forward novel robotic architectures to provide physical therapy. This paper presents a patient-tailored control architecture for upper-limb robot-aided orthopaedic rehabilitation capable of i) adapting the robot workspace on the basis of patient Range of Motion…
Pedicle screw fixation is a fundamental surgical procedure which requires high accuracy and strength from the surgeon who may be exposed to uncomfortable postures and muscular fatigue. The objective of this paper is to propose a novel approach to robot-aided pedicle screw fixation based on a Surgeon
This letter presents a motion planning system for robotic devices to be adopted in assistive or rehabilitation scenarios. The proposed system is grounded on a learning by demonstration approach based on dynamic movement primitives (DMP) and presents a high level of generalization allowing the user t