AIConfPaper
← Search

Riccardo Secoli

5 accepted papers

2021

Position-Based Dynamics Simulator of Brain Deformations for Path Planning and Intra-Operative Control in Keyhole Neurosurgery

Alice Segato, Chiara Di Vece, Sara Zucchelli, Marco Di Marzo, Thomas Wendler, Mohammad Farid Azampour +3
RA-L 2021

Many tasks in robot-assisted surgery require planning and controlling manipulators' motions that interact with highly deformable objects. This study proposes a realistic, time-bounded simulator based on Position-based Dynamics (PBD) simulation that mocks brain deformations due to catheter insertion

Cited by 16Source ↗Scholar ↗
2020

Model-Based Robust Pose Estimation for a Multi-Segment, Programmable Bevel-Tip Steerable Needle

Alberto Favaro, Riccardo Secoli, Ferdinando Rodriguez y Baena, Elena De Momi
RA-L 2020

Bevel-tip steerable needles for percutaneous intervention are prone to torsion determined by the interaction forces with the human tissue. If disregarded, torsion can affect the insertion accuracy inducing a change in the needle tip orientation, which is generally undetectable by tracking devices be

Cited by 14Source ↗Scholar ↗
2020

Optimal Pose Estimation Method for a Multi-Segment, Programmable Bevel-Tip Steerable Needle

Alberto Favaro, Riccardo Secoli, Ferdinando Rodriguez y Baena, Elena De Momi
IROS 2020poster

Needle pose tracking is fundamental to achieve a precise and safe insertion in minimally-invasive percutaneous interventions. In this work, a method for estimating the full pose of steerable needles is presented, considering a four-segment Programmable Bevel-Tip Needle (PBN) as a case study. The met…

Cited by 1Source ↗Scholar ↗
2019

Human-Robot Visual Interface for 3D Steering of a Flexible, Bioinspired Needle for Neurosurgery

Eloise Matheson, Riccardo Secoli, Stefano Galvan, Ferdinando Rodriguez y Baena
IROS 2019poster

Robotic minimally invasive surgery has been a subject of intense research and development over the last three decades, due to the clinical advantages it holds for patients and doctors alike. Particularly for drug delivery mechanisms, higher precision and the ability to follow complex trajectories in…

Cited by 6Source ↗Scholar ↗
2016

Fast and Adaptive Fractal Tree-Based Path Planning for Programmable Bevel Tip Steerable Needles

Fangde Liu, Arnau Garriga-Casanovas, Riccardo Secoli, Ferdinando Rodriguez y Baena
RA-L 2016

Steerable needles are a promising technology for minimally invasive surgery, as they can provide access to difficult to reach locations while avoiding delicate anatomical regions. However, due to the unpredictable tissue deformation associated with needle insertion and the complexity of many surgica

Cited by 35Source ↗Scholar ↗