Surgical robotics

Robotic-aided laparoscopy using serial manipulator

Demo of robot-aided laparoscopy using the Meka A2 compliant robotic arm. The setup includes a serial link manipulator integrated with an haptic interface using ROS. The video feedback is provided by a clinical endoscope.

Flexible needle steering using discrete steps

This is the video accompanying the paper entitled "On the Use of Discrete Steps in Robot-aided Flexible Needle Insertion" (EMBC 2013).


Beating heart motion prediction for robust visual tracking

In the context of motion compensation systems for applications on cardiac robotic-assisted Minimally Invasive Surgery (MIS), vision-based techniques have a great potential. In this video, an Extended Kalman Filter (EKF) is used to estimate a model for heart 3D motion in order to support the vision algorithm.