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Nicola Piccinelli

10 accepted papers

2026

A Shared Control Architecture for Vitreoretinal Surgery With Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
RA-L 2026

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a

Cited by 0Source ↗Scholar ↗
2026

A Shared Control Architecture for Vitreoretinal Surgery with Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
ICRA 2026poster

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a …

Cited by 0Source ↗Scholar ↗
2026

Automated Retinal Photocoagulation Using Instrument-Integrated OCT and Laser Pattern Mapping

Marius Briel, Ludwig Haide, Dongyue Wu, Justus Hornstein, Philipp Matten, Nicola Piccinelli +3
ICRA 2026poster

Retinal endolaser photocoagulation (REPC) is a repetitive intraocular surgical procedure that could greatly benefit from automation and distance-based control, improving both efficiency and safety. This work presents a robotic system designed for automated REPC, utilizing instrument-integrated optic…

Cited by 0Scholar ↗
2026

Distance-Based Shared Control for Vitreoretinal Surgery

Marius Briel, Dongyue Wu, Maximilian Hess, Ludwig Haide, Nicola Piccinelli, Gernot Kronreif +3
RA-L 2026

The fragility of ocular tissues combined with the limited surgical workspace demands precise instrument control and focus, making sensor-integrated robotic systems a promising solution. In this paper, we introduce a surgical system for telemanipulated endolaser photocoagulation that leverages instru

Cited by 0Source ↗Scholar ↗
2026

Distance-Based Shared Control for Vitreoretinal Surgery

Marius Briel, Dongyue Wu, Maximilian Hess, Ludwig Haide, Nicola Piccinelli, Gernot Kronreif +3
ICRA 2026poster

The fragility of ocular tissues combined with the limited surgical workspace demands precise instrument control and focus, making sensor-integrated robotic systems a promising solution. In this paper, we introduce a surgical system for telemanipulated endolaser photocoagulation that leverages instru…

Cited by 0Source ↗Scholar ↗
2021

An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation

Filippo Loschi, Nicola Piccinelli, Diego Dall’Alba, Riccardo Muradore, Paolo Fiorini, Cristian Secchi
ICRA 2021poster

In this paper, we propose a novel bilateral teleoperation architecture that allows to optimally render the remote interaction force at the local side while guaranteeing a robustly stable behaviour. Stability is guaranteed by ensuring a proper energy exchange between the local and the remote sides. D…

Cited by 8Source ↗Scholar ↗
2020

A Passivity-Based Bilateral Teleoperation Architecture using Distributed Nonlinear Model Predictive Control

Nicola Piccinelli, Riccardo Muradore
IROS 2020poster

Bilateral teleoperation systems allow the telepresence of an operator while working remotely. Such ability becomes crucial when dealing with critical environments like space, nuclear plants, rescue, and surgery. The main properties of a teleoperation system are the stability and the transparency whi…

Cited by 15Source ↗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 8Source ↗Scholar ↗
2019

An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems

Marco Minelli, Federica Ferraguti, Nicola Piccinelli, Riccardo Muradore, Cristian Secchi
ICRA 2019poster

In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conserva…

Cited by 40Source ↗Scholar ↗
2019

Cognitive Robotic Architecture for Semi-Autonomous Execution of Manipulation Tasks in a Surgical Environment

Giacomo De Rossi, Marco Minelli, Alessio Sozzi, Nicola Piccinelli, Federica Ferraguti, Francesco Setti +3
IROS 2019poster

The development of robotic systems with a certain level of autonomy to be used in critical scenarios, such as an operating room, necessarily requires a seamless integration of multiple state-of-the-art technologies. In this paper we propose a cognitive robotic architecture that is able to help an op…

Cited by 30Source ↗Scholar ↗