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Leonardo S. Mattos

9 accepted papers

2023

Augmented Reality Navigation in Robot-Assisted Surgery with a Teleoperated Robotic Endoscope

Veronica Penza, Alberto Neri, Maria Koskinopoulou, Enrico Turco, Domenico Soriero, Stefano Scabini +2
IROS 2023poster

Augmented reality (AR) is considered one of the most promising solutions for safer procedures in several surgical specialities. Fusing patient-specific pre-operative information, typically 3D models extracted from CT scans or MRI, with real-time surgical images allows the surgeon to have detailed in…

Cited by 4Source ↗Scholar ↗
2023

Dual Robot Collaborative System for Autonomous Venous Access Based on Ultrasound and Bioimpedance Sensing Technology

Maria Koskinopoulou, Alperen Acemoglu, Veronica Penza, Leonardo S. Mattos
ICRA 2023poster

Accurate needle insertion is an important task in many medical procedures. This paper studies the case of an autonomous needle insertion system for central venous access, which is a risky and challenging procedure involving the simultaneous manipulation of an ultrasound probe and of a catheterizatio…

Cited by 6Source ↗Scholar ↗
2021

Towards a Compact Vision-based Auto-Focusing System for Endoscopic Laser Surgery

Andre Geraldes, Veronica Penza, Leonardo S. Mattos
IROS 2021poster

Endoscopic laser tools have been recently proposed in order to overcome the limitations of state-of-the-art laser tools, by integrating fiber-coupled lasers into flexible endoscopic systems. One of the main challenges in designing such endoscopic tools consists in the focusing of the laser, that req…

Cited by 1Source ↗Scholar ↗
2019

Hybrid Visual Servoing for Autonomous Robotic Laser Tattoo Removal

Veronica Penza, Damiano Salerno, Alperen Acemoglu, Jesús Ortiz, Leonardo S. Mattos
IROS 2019poster

Laser tattoo removal is a standard non-invasive method for removing color pigments on the skin. Increasing number of tattooed people who want to remove their tattoo has driven the medical laser market to develop new technologies for painless, scar-free and complete tattoo removal. However, manual us…

Cited by 4Source ↗Scholar ↗
2018

Human in the Loop of Robot Learning: EEG-Based Reward Signal for Target Identification and Reaching Task

Lucia Schiatti, Jacopo Tessadori, Nikhil Deshpande, Giacinto Barresi, Louis C. King, Leonardo S. Mattos
ICRA 2018poster

Shared control and shared autonomy play an important role in assistive technologies, allowing the offloading of the cognitive burden required for control from the user to the intelligent robotic device. In this context, electrophysiological measures of error detection, directly measured from a perso…

Cited by 21Source ↗Scholar ↗
2015

Feed forward incision control for laser microsurgery of soft tissue

Loris Fichera, Diego Pardo, Placido Illiano, Darwin G. Caldwell, Leonardo S. Mattos
ICRA 2015poster

In this paper we present a feed forward controller to regulate the depth of laser incisions in soft tissue. Such a controller is compatible with the requirements of laser microsurgery, where space constraints limit the use of sensing devices. The controller is based on an inverse model that maps the…

Cited by 12Source ↗Scholar ↗
2015

New motorized micromanipulator for robot-assisted laser phonomicrosurgery

Nikhil Deshpande, Leonardo S. Mattos, Darwin G. Caldwell
ICRA 2015poster

In laser-based laryngeal surgeries, motorized laser scanners offer greater aiming accuracy and efficiency. In this paper, a new motorized laser micromanipulator is presented, which is based on a spherical orienting device. It is a 2 degrees-of-freedom roll/pitch mechanism which actuates the laser be…

Cited by 8Source ↗Scholar ↗