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Glaucoma is an irreversible disease affecting the eye, leading to progressive loss of vision and eventually to total blindness. It is often related to high intraocular pressure (IOP), which results from increased outflow resistance to aqueous humor. The fi ...
Concrete structures, contrary to steel or timber structures, have not been traditionally considered as significantly sensitive to fire conditions. As a consequence, their performance in fire conditions has generally been assessed on the basis of quite simp ...
We present a task-parameterized probabilistic model encoding movements in the form of virtual spring-damper systems acting in multiple frames of reference. Each candidate coordinate system observes a set of demonstrations from its own perspective, by extra ...
A new challenge for surgical robotics is placed in the use of flexible manipulators, to perform procedures that are impossible for currently available rigid robots. Since the surgeon only controls the end-effector of the manipulator, new control strategies ...
In the present thesis we demonstrate how under the appropriate dynamic control of light propagation, multimode fibers can be transformed into deterministic optical elements that along with their ultrathin size, large number of degrees of freedom and high N ...
Photopolymerized hydrogels are commonly used for a broad range of biomedical applications. As long as the polymer volume is accessible, gels can easily be hardened using light illumination. However, in clinics, especially for minimally invasive surgery, it ...
Minimally invasive surgeries on the lungs have eliminated the ability for surgeons to place their hands on the patient's organ to feel for abnormalities. Therefore, in this paper, a force sensor for 2 degrees of freedom haptic applications is described. It ...
Confocal microlaparoscopy is a promising approach in minimally invasive surgery for replacing conventional biopsies that involve physical tissue sampling. However, the typical images acquired with this technique cover a very small area limited by the field ...
Automatic visual detection of instruments in minimally invasive surgery (MIS) can significantly augment the procedure experience for operating clinicians. In this paper, we present a novel technique for detecting surgical instruments by constructing a robu ...
The present paper describes LIGRA, an innovative technological solution developed in the context of the SAFROS co-funded EU project. Its general goal is to improve patient safety during minimal invasive robotic surgery. Focusing on the risks introduced in ...