Valentina Vitiello — accepted AI-conference papers

2017

A Single-Port Robotic System for Transanal Microsurgery - Design and Validation

Jianzhong Shang, Konrad Leibrandt, Petros Giataganas, Valentina Vitiello, Carlo A. Seneci, Piyamate Wisanuvej +5

RA-L 2017

This letter introduces a single-port robotic platform for transanal endoscopic microsurgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or full-thickness dissection. This system is intended to replace the conventiona

Cited by 57 Source ↗Scholar ↗

2017

A framework for sensorless and autonomous probe-tissue contact management in robotic endomicroscopic scanning

Rejin John Varghese, Pierre Berthet-Rayne, Petros Giataganas, Valentina Vitiello, Guang-Zhong Yang

ICRA 2017poster

Advances in optical imaging, and probe-based Confocal Laser Endomicroscopy (pCLE) in particular, offer real-time cellular level information for in-vivo tissue characterization. However for large area coverage, the limited field-of-view necessitates the use of a technique known as mosaicking to gener…

Cited by 11 Source ↗Scholar ↗

2017

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Konrad Leibrandt, Piyamate Wisanuvej, Gauthier Gras, Jianzhong Shang, Carlo A. Seneci, Petros Giataganas +3

RA-L 2017

The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace throu

Cited by 40 Source ↗Scholar ↗

2015

A cooperative control framework for haptic guidance of bimanual surgical tasks based on Learning From Demonstration

Maura Power, Hedyeh Rafii-Tari, Christos Bergeles, Valentina Vitiello, Guang-Zhong Yang

ICRA 2015poster

Whilst current minimally invasive surgical robots offer many advantages to the surgeon, most of them are still controlled using the traditional master-slave approach, without fully exploiting the complementary strengths of both the human user and the robot. This paper proposes a framework that provi…

Cited by 49 Source ↗Scholar ↗