Federica Ferraguti - Academia.edu (original) (raw)

Uploads

Papers by Federica Ferraguti

Research paper thumbnail of Catching the wave: A transparency oriented wave based teleoperation architecture

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016

Research paper thumbnail of Bilateral teleoperation of a dual arms surgical robot with passive virtual fixtures generation

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015

Research paper thumbnail of A two-layer approach for shared control in semi-autonomous robotic surgery

2015 European Control Conference (ECC), 2015

Research paper thumbnail of Distributed Control Architecture for Automated Surgical Task Execution with Coordinated Robot Arms

Research paper thumbnail of An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery

IEEE Transactions on Robotics, 2015

Research paper thumbnail of A tank-based approach to impedance control with variable stiffness

2013 IEEE International Conference on Robotics and Automation, 2013

ABSTRACT In this paper, we present a new impedance control strategy that allows to reproduce a ti... more ABSTRACT In this paper, we present a new impedance control strategy that allows to reproduce a time-varying stiffness. By properly controlling the energy exchanged during the action, we guarantee the system passivity for any choice of the stiffness matrix, especially in case of time-varying stiffness, and therefore a stable behavior of the robot both in free motion and in interaction with an environment.

Research paper thumbnail of Development of a Cognitive Robotic System for Simple Surgical Tasks

International Journal of Advanced Robotic Systems, 2015

Research paper thumbnail of An algorithm for planning the number and the pose of the iceballs in cryoablation

Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2013

We present an algorithm that computes the number and the pose (position and orientation) of iceba... more We present an algorithm that computes the number and the pose (position and orientation) of iceballs in a cryoablation procedure, in order to completely cover the target region, i.e. the tumor. Constraints to needle insertion, such as regions that have to be avoided, are taken into account and satisfied. We developed a tool for cryosurgery planning in MATLAB and perform several simulations to extract information on the algorithm behavior and to verify that it always brings to a complete coverage.

Research paper thumbnail of A component-based software architecture for control and simulation of robotic manipulators

2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA), 2013

ABSTRACT The paper describes a software architecture for control and simulation of a generic robo... more ABSTRACT The paper describes a software architecture for control and simulation of a generic robotic manipulator. The algorithmic part of the system is implemented using the Orocos component-based framework and its related library for robotic applications, while the graphical animation of the robot is developed with Blender. The proposed control and simulation framework is modular, reconfigurable and computationally efficient. Moreover, it can be seamlessly integrated into a more complex control architecture for a complete intelligent robotic system.

Research paper thumbnail of Planning and Simulation of Percutaneous Cryoablation

AASRI Procedia, 2014

New technological methods to assist percutaneous cryoablation procedures are here presented, name... more New technological methods to assist percutaneous cryoablation procedures are here presented, namely a planning software and a simulation algorithm. The first has the role to calculate a feasible displacement of the tools to ensure an effective ablation of the lesion, satisfying well-specified procedural constraints. Starting from intra-operative CT scans of the patient, a virtual model of the anatomical site is obtained and uploaded. The displacement of the cryoprobes is computed in order to cover the whole volume of the tumour with the developed iceball, but minimizing the damage to surrounding healthy renal tissue. On the other hand, the simulation algorithm is a graphical tool useful to assess the temperature distribution throughout the evolution of the procedure. A discrete iterative function calculates the heat transfer from the probes to the surrounding tissue within a specified three-dimensional grid: the isolation of significant isotherms can help to assess whether the whole tumour will be frozen or not. By using a real intra-operative dataset of a successful percutaneous cryoablation, the volume of the real iceball has been matched with that generated from the simulator, showing a good accuracy in terms of dimension and shape. Even though been designed to be integrated within a robotic system, this method is usable and extensible for different purposes and adapted to simulate other scenarios or procedures.

Research paper thumbnail of Catching the wave: A transparency oriented wave based teleoperation architecture

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016

Research paper thumbnail of Bilateral teleoperation of a dual arms surgical robot with passive virtual fixtures generation

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015

Research paper thumbnail of A two-layer approach for shared control in semi-autonomous robotic surgery

2015 European Control Conference (ECC), 2015

Research paper thumbnail of Distributed Control Architecture for Automated Surgical Task Execution with Coordinated Robot Arms

Research paper thumbnail of An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery

IEEE Transactions on Robotics, 2015

Research paper thumbnail of A tank-based approach to impedance control with variable stiffness

2013 IEEE International Conference on Robotics and Automation, 2013

ABSTRACT In this paper, we present a new impedance control strategy that allows to reproduce a ti... more ABSTRACT In this paper, we present a new impedance control strategy that allows to reproduce a time-varying stiffness. By properly controlling the energy exchanged during the action, we guarantee the system passivity for any choice of the stiffness matrix, especially in case of time-varying stiffness, and therefore a stable behavior of the robot both in free motion and in interaction with an environment.

Research paper thumbnail of Development of a Cognitive Robotic System for Simple Surgical Tasks

International Journal of Advanced Robotic Systems, 2015

Research paper thumbnail of An algorithm for planning the number and the pose of the iceballs in cryoablation

Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2013

We present an algorithm that computes the number and the pose (position and orientation) of iceba... more We present an algorithm that computes the number and the pose (position and orientation) of iceballs in a cryoablation procedure, in order to completely cover the target region, i.e. the tumor. Constraints to needle insertion, such as regions that have to be avoided, are taken into account and satisfied. We developed a tool for cryosurgery planning in MATLAB and perform several simulations to extract information on the algorithm behavior and to verify that it always brings to a complete coverage.

Research paper thumbnail of A component-based software architecture for control and simulation of robotic manipulators

2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA), 2013

ABSTRACT The paper describes a software architecture for control and simulation of a generic robo... more ABSTRACT The paper describes a software architecture for control and simulation of a generic robotic manipulator. The algorithmic part of the system is implemented using the Orocos component-based framework and its related library for robotic applications, while the graphical animation of the robot is developed with Blender. The proposed control and simulation framework is modular, reconfigurable and computationally efficient. Moreover, it can be seamlessly integrated into a more complex control architecture for a complete intelligent robotic system.

Research paper thumbnail of Planning and Simulation of Percutaneous Cryoablation

AASRI Procedia, 2014

New technological methods to assist percutaneous cryoablation procedures are here presented, name... more New technological methods to assist percutaneous cryoablation procedures are here presented, namely a planning software and a simulation algorithm. The first has the role to calculate a feasible displacement of the tools to ensure an effective ablation of the lesion, satisfying well-specified procedural constraints. Starting from intra-operative CT scans of the patient, a virtual model of the anatomical site is obtained and uploaded. The displacement of the cryoprobes is computed in order to cover the whole volume of the tumour with the developed iceball, but minimizing the damage to surrounding healthy renal tissue. On the other hand, the simulation algorithm is a graphical tool useful to assess the temperature distribution throughout the evolution of the procedure. A discrete iterative function calculates the heat transfer from the probes to the surrounding tissue within a specified three-dimensional grid: the isolation of significant isotherms can help to assess whether the whole tumour will be frozen or not. By using a real intra-operative dataset of a successful percutaneous cryoablation, the volume of the real iceball has been matched with that generated from the simulator, showing a good accuracy in terms of dimension and shape. Even though been designed to be integrated within a robotic system, this method is usable and extensible for different purposes and adapted to simulate other scenarios or procedures.