Publications

Journal publications

Path Tracking Control of a Steerable Catheter in Transcatheter Cardiology Interventions

Authors: Xiu Zhang, Aditya Sridhar, Xuan Thao Ha, Syed Zain Mehdi, Andrea Fortuna, Mattia Magro, Angela Peloso, Anna Bicchi, Mouloud Ourak, Andrea Aliverti, Emiliano Votta, Emmanuel Vander Poorten, Elena De Momi

International Journal of Computer Assisted Radiology and Surgery | 22 February 2024

 

A Deep Learning-Based Fully Automated Pipeline for Regurgitant Mitral Valve Anatomy Analysis From 3D Echocardiography

Authors: Riccardo Munafò, Simone Saitta, Giacomo Ingallina, Paolo Denti, Francesco Maisano, Eustachio Agricola, Alberto Redaelli, Emiliano Votta

IEEE Access, Vol. 12 | 4 January 2024 

 

Fusion Framework for Coaxial Catheter Tracking

Authors: HA, X.T., Wu, D., Trauzettel, F., Ourak, M., Borghesan, G., Menciassi, A., Vander Poorten, E. 

IEEE Sensors Journal | 1 September 2023

 

An Artificial Intelligence-aided Robotic Platform for Ultrasound-guided Transcarotid Revascularization

Authors: G. Faoro, S. Maglio, S. Pane, V. Iacovacci, A. Menciassi

IEEE Robotics and Automation Letters, 2023 

 

Sensor fusion for shape reconstruction using electromagnetic tracking sensors and multi-core optical fiber.

Authors: Ha, X. T., Wu, D., Ourak, M., Borghesan, G., Menciassi, A., & Vander Poorten, E.

IEEE Robotics and Automation Letters | 2023

 

Multi-Contact Localization Framework for Flexible Robots Using a Data-driven Approach.

Authors: Ha, X. T., Sridhar, A., Ourak, M., Borghesan, G., Menciassi, A., & Vander Poorten, E. 

IEEE Sensors Journal | 29 May 2023

 

Comparative Study on Electromagnetic Tracking and Fiber Bragg Grating-Based Catheter Shape Sensing

Authors: Xuan Thao Ha, Izadyar Tamadon, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi and Emmanuel Vander Poorten

IEEE Sensors (pp. 1-4) | October 2022

 

Comparative Analysis of Interactive Modalities for Intuitive Endovascular Interventions.

Authors: Wu, D., Li, Z., Ansari, M. H. D., Ha, X. T., Ourak, M., Dankelman, J., … & Vander Poorten, E. 

IEEE Transactions on Visualization and Computer Graphics. | 2022

 

Contact Localization of Continuum and Flexible Robot Using Data-Driven Approach

Authors: Xuan Thao Ha, Di Wu, Chun-Feng Lai, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
IEEE Robotics and Automation Letters Volume: 7, Issue: 3 | 23 March 2022 

 

Multi-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A Preliminary Comparison of Visual, Haptic, and Visuo-Haptic

Authors: Guido Caccianiga, Andrea Mariani, Chiara Galli de Paratesi, Arianna Menciassi, Elena De Momi

IEEE Robotics and Automation Letters vol. 6, no. 2 | 4 March 2021

 

Invited talk

Ingestible, Implantable, Interventional Robotic Devices (I3 RoD): Some Case Studies And Translational Activities

Speaker: Arianna Menciassi

Croucher Advanced Study Institutes Symposium on “Medical Robotics with soft-miniature designs: from bench to bedside”, Hong Kong, January 28. 2024

 

New Insight in Trancatheter Valve Replacement. New Frontiers in Cardiovascular Disease

Speaker: Prof. Paolo Denti

I.R.C.C.S. Galeazzi-Sant’Ambrogio Hospital, 9^th-10^th November Milan 

 

Shape sensing in soft surgical robots: is it a real need?

Speaker: Arianna Menciassi

Workshop on “Autonomous flexible surgical robots: where we are and where we are going”, at the Hamlyn Symposium on Medical Robotics, London, June 25, 2023

 

Conference proceedings

Innovation Showroom. Session comprising selected PCR London Valves 2023 Innovation submissions.

Author: Prof. Paolo Denti 

PCR London Valves 2023, Excel London 19-21 November 2023

 

Data-driven Modeling of Complex Hysteresis Behaviour in MitraClip Steerable Catheters.

Authors: Wu, D., Sridhar, A., Beckers, W. A., Mehdi, S. Z., Ourak, M., Tamadon, I., … & Vander Poorten, E.

In Conference on New Technologies for Computer and Robot Assisted Surgery, Paris | September 2023

 

Robotising structural heart treatment: reducing the need for X-rays. Top Innovations

PCR London Valves 2023, Excel London 19-21 November 2023

 

Transcatheter mitral valve replacement: Obtaining the Necessary Skills for Success. 

Author: Prof. Paolo Denti

23^rd ISMICS International Society for Minimally Invasive Cardiothoracic Surgery, Boston 31^st May, June 3rd 2023

 

Transcatheter Mitral Valve Replacement: Obtaining the Necessary Skills for Success.

Author: Prof. Paolo Denti

59th Annual Meeting of The Society of Thoracic Surgeons. San Diego 21-23 January 2023

 

Fiber Bragg Grating sensors for temperature estimation and their integration in robotic transesophageal echocardiography: a preliminary study

Authors: L. Barozzi, G. Faoro, M. Chirumamilla, S. Tognarelli, D. D’Auria, A. Menciassi

12th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), 2023

 

Robotic Actuation and Control of A Catheter for Structural Intervention Cardiology

Authors: Xiu Zhang, Maria Chiara Palumbo, Francesca Perico, Mattia Magro, Andrea Fortuna, Tommaso Magni, Emiliano Votta, Alice Segato and Elena De Momi
IROS2022 Conference, Tokyo, Japan | 23-27 October 2022

 

Actuation and Control of a Steerable Catheter for Mitral Valve Repair

Authors: Magro Mattia, Andrea Fortuna, Mariagrazia Quacquarelli, Angela Peloso, Xiu Zhang and Elena De Momi
I-RIM 3D 2022 Conference, Roma, Italy | 7-9 October 2022

 

Inverse Reinforcement Learning algorithm for intra-vascular and intra-cardiac catheter’s navigation in Minimally Invasive Surgery

Authors: Andrea Fortuna, Magro Mattia, Angela Peloso, Alice Segato and Elena De Momi
I-RIM 3D 2022 Conference, Roma, Italy | 7-9 October 2022

 

Path Planning and Control of a Steerable Catheter for Mitral Valve Repair in an Augmented Reality framework

Authors: Mattia Magro, Andrea Fortuna, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
Hamlyn Symposium 2022, London, UK | 26-29 June 2022

 

Toward Steerable Needles Autonomous Motion for Mitral Valve Repair

Authors: Mattia Magro, Andrea Fortuna, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
ICRA2022 Conference, Philadelphia, USA | 23-27 May 2022

 

Design and Preliminary Characterisation of a New Soft Steerable Sheath for Cardiovascular Interventions

Authors: Aditya Sridhar, Mouloud Ourak, Irati Valdivielso, Emmanuel Vander Poorten
20th International Conference on Advanced Robotics (ICAR), 6–10 December 2021

 

Poster in workshops

Actuation and Control of a Steerable Catheter for Mitral Valve Repair

Authors: Magro Mattia, Andrea Fortuna, Mariagrazia Quacquarelli, Angela Peloso, Xiu Zhang and Elena De Momi
I-RIM 3D 2022 Conference, Roma, Italy | 7-9 October 2022

 

Inverse Reinforcement Learning algorithm for intra-vascular and intra-cardiac catheter’s navigation in Minimally Invasive Surgery

Authors: Andrea Fortuna, Magro Mattia, Angela Peloso, Alice Segato and Elena De Momi
I-RIM 3D 2022 Conference, Roma, Italy | 7-9 October 2022

 

Path Planner Module for a steerable catheter for Structural Interventional Cardiology using Inverse Reinforcement Learning

Authors: Mattia Magro, Andrea Fortuna, Tomamso Magni, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
Poster accepted at Hamlyn Symposium 2022, London, UK | 26-29 June 2022

 

Toward Steerable Needles Autonomous Motion for Mitral Valve Repair

Authors: Mattia Magro, Andrea Fortuna, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
ICRA2022 Conference, Philadelphia, USA | 23-27 May 2022

 

Towards an autonomous robotic platform for percutaneous procedures

Authors: Valentina Corbetta, Alice Segato, Andrea Fortuna, Tommaso Magni, Mattia Magro, Xiu Zhang and Elena De Momi
CRAS2022 Conference, Napoli, Italy | 25-27 April 2022