Publications

 

Conference Contributions:

B. Hochner. Invited Speaker. The neurophysiological basis of motor function and learning and memory in the octopus - an animal with a complex ‘embodiment’ the 2012 Second Molluscan Neuroscience meeting, on “Molluscan Neuroscience in the Genomic Era: from Gastropods to Cephalopods,” May 16 -19, 2012 Scripps Research Institute, Jupiter, FL.

B. Hochner. Invited speaker. Neurophysiological organization of the learning and memory network of modern cephalopods – octopus and cuttlefish at Cold Spring Harbor-Asia Conference on Invertebrate Neurobiology, June 18-21, 2012, Suzhou, China.

W. Kier, B. Hochner, D. Tsakiris, C. Laschi, organisier T. Flash. Controlling Movement in the octopus - from biological to robotic arms, Symposium at the 22nd ANNUAL CONFERENCE of the Society of the Neural Control of Movement, April 23-29, 2012, Venice, Italy

G. Levy, T. Flash and B. Hochner. How octopuses coordinate their eight flexible arms in crawling?, The 22nd ANNUAL CONFERENCE of the Society of the Neural Control of Movement, April 23-29, 2012, Venice, Italy.

D. Tsakiri, A. Kazakidi1, M. Kuba, A. Botvinnik, M. Sfakiotakis, T. Gutnick, S. Hanassy, G. Levy, J.A. Ekaterinaris, T. Flash and B. Hochner. Swimming patterns of the Octopus vulgaris, The 22nd ANNUAL CONFERENCE of the Society of the Neural Control of Movement, April 23-29, 2012, Venice, Italy.

N. Nesher, N. Feinstein, L. Englaster, E. Finkel and B. Hochner. Functional characterization of the cholinergic motor innervation in the special neuromuscular system of the octopus arm, The 22nd ANNUAL CONFERENCE of the Society of the Neural Control of Movement, April 23-29, 2012, Venice, Italy.

A. Menciassi. New Generation Robots for Endoluminal and Single Port Surgery, Symposium of surgical robotics at BioRob, June 24, Rome, Italy.

A. Menciassi. Micro robots; future trends, 20th international congress of EAES, June 20-23, Brussels, Belgium.

A. Menciassi. Robots for single port, 20th international congress of EAES, June 20-23, Brussels, Belgium.
On 23rd May 2012, Professor Althoefer presented results and advancements relating to STIFF-FLOP at the 20th International Congress of the EAES (European Association for Endoscopic Surgery) in Brussels (http://congress.eaes.eu/Congress2012.aspx) in his talk on Tools and Devices for Present and Future Surgery.

M. Morino and A. Arezzo organized the Postgraduate Course on Transanal Endoscopic Microsurgery, including afternoon Hands-on course, 20th international congress of EAES, June 20-23, Brussels, Belgium.

A. Melzer and Y. MIntz organized the Technology Symposium I on Robots and Manipulators revised, 20th international congress of EAES, June 20-23, Brussels, Belgium.

C. Gutt , Robotic surgery failed to deliver significant advantages over standard laparoscopy, 20th international congress of EAES, June 20-23, Brussels, Belgium.

A. Melzer, Image guided robotic surgery – current status and future applications, 20th international congress of EAES, June 20-23, Brussels, Belgium.

M. Morino, The 2013 Consensus conference for clinical robotic surgery- are we ready to make decisions? 20th international congress of EAES, June 20-23, Brussels, Belgium.

M. Morino chaired the session Difficult situations in suturing and stapling (black videos), 20th international congress of EAES, June 20-23, Brussels, Belgium.

A. Melzer, Image guided robotics, 20th international congress of EAES, June 20-23, Brussels, Belgium.

C. Gutt , participated to the FACE to FACE on Robotics: a real advantage for patients ?, 20th international congress of EAES, June 20-23, Brussels, Belgium.

A. Arezzo, gave the Sir Alfred Cuschieri Lecture of the Technology Committee, INNOVATIVE FLEXIBLE ENDOSCOPY: A TOOL FOR SURGEONS AGAIN, 20th international congress of EAES, June 20-23, Brussels, Belgium.

A. Arezzo, G. Scozzari and M. Morino won the Free paper presentation Olympus - EAES award session, with the paper IS SINGLE PORT LAPAROSCOPIC CHOLECYSTECTOMY SAFE? RESULTS OF A SYSTEMATIC REVIEW AND META-ANALYSIS, 20th international congress of EAES, June 20-23, Brussels, Belgium.

A. Arezzo, Role of flexible endoscopy in surgery, 20th international congress of EAES, June 20-23, Brussels, Belgium

M. Morino, Total mesorectal excision (TME): open, laparoscopic, or robotic?, 20th international congress of EAES, June 20-23, Brussels, Belgium

Y. Mintz, BRINGING NOTES TO PATIENTS SAFELY- Update on devices, 20th international congress of EAES, June 20-23, Brussels, Belgium

A. Melzer, Novel robotic systems integrated with novel imaging platforms - the smart operation of the future?, EAES Technology Committee 2012 Winter meeting. January 13th, Brussels, Belgium

A. Arezzo, Classification and appropriateness of treatment of early lesions of the colon and rectum, . », ? ? , Athens, Greece

A. Arezzo, Instruments for One Port Surgery, INTERNATIONAL CONGRESS “Mini-invasive Surgery: what’s new?” WALKING IN NEW TECNOLOGY, March 22nd, Naples, Italy

Cianchetti M, “Soft mechatronics for bioengineering and bioinspired robotics” National Congress on Biomedical Engineering – GNB, Pavia, Italy, June 25-27, 2014.

I. De Falco, M. Cianchetti, A. Menciassi “A Soft and Controllable Stiffnss Manipulator for Minimally Invasive Sur-gery: Preliminary Characterization of the Modular Design” 36th Annual International Conference of the IEEE Engi-neering in Medicine and Biology Society (EMBC), August 26-30, 2014. Chicago, USA

I. De Falco, M. Cianchetti, A. Menciassi “STIFF-FLOP surgical manipulator: design and preliminary motion evalua-tion” 4th Joint WorkShop on Computer/Robot Assisted Surgery (CRAS), October 14-16, 2014. Genoa, Italy.

G. Gerboni, T. Ranzani, G. Ciuti, M. Cianchetti, A. Menciassi “A new strategy to build a fully modular soft manipula-tor for MIS” 4th Joint WorkShop on Computer/Robot Assisted Surgery (CRAS), October 14-16, 2014. Genoa, Italy.

L. Ricotti, T. Ranzani, V. Calarota and A. Menciassi “Thin and flexible pressure/deformation sensors based on piezo-electric nanocomposites”. IEEE SENSORS, November 2-5, 2014. Valencia, Spain.

Bruno, D., Calinon, S. and Caldwell, D.G. (2014). "Learning Adaptive Movements from Demonstration and Self-Guided Exploration". In Proc. IEEE Intl Conf. on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), pp.160-165, Genova, Italy.

Rozo, L., Calinon, S. and Caldwell, D.G. (2014). "Learning Force and Position Constraints in Human-robot Coopera-tive Transportation" In Proc. IEEE Intl Symposium on Robot and Human Interactive Communication (Ro-Man), pp. 619-624, Edinburgh, Scotland, UK.

Calinon, S., Bruno, D. and Caldwell, D.G. (2014)." A task-parameterized probabilistic model with minimal interven-tion control". In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 3339-3344, Hong Kong, China.

Bruno, D., Calinon, S. and Caldwell, D.G. (2014). "Null space redundancy learning for a flexible surgical robot". In Proceedings of the IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 2443-2448, Hong Kong, China.

Calinon, S. (2014). "Skills Learning in Robots by Interaction with Users and Environment". In Proceedings of the Intl Conf. on Ubiquitous Robots and Ambient Intelligence (URAI), Kuala Lumpur, Malaysia.

Cianchetti M, “Soft mechatronics for bioengineering and bioinspired robotics” National Congress on Biomedical Engineering – GNB, Pavia, Italy, June 25-27, 2014.

I. De Falco, M. Cianchetti, A. Menciassi “A Soft and Controllable Stiffness Manipulator for Minimally Invasive Sur-gery: Preliminary Characterization of the Modular Design” 36th Annual International Conference of the IEEE Engi-neering in Medicine and Biology Society (EMBC), August 26-30, 2014. Chicago, USA

I. De Falco, M. Cianchetti, A. Menciassi “STIFF-FLOP surgical manipulator: design and preliminary motion evalua-tion” 4th Joint WorkShop on Computer/Robot Assisted Surgery (CRAS), October 14-16, 2014. Genoa, Italy.

G. Gerboni, T. Ranzani, G. Ciuti, M. Cianchetti, A. Menciassi “A new strategy to build a fully modular soft manipula-tor for MIS” 4th Joint WorkShop on Computer/Robot Assisted Surgery (CRAS), October 14-16, 2014. Genoa, Italy.

L. Ricotti, T. Ranzani, V. Calarota and A. Menciassi “Thin and flexible pressure/deformation sensors based on piezo-electric nanocomposites”. IEEE SENSORS, November 2-5, 2014. Valencia, Spain.

Bruno, D., Calinon, S. and Caldwell, D.G. (2014). "Learning Adaptive Movements from Demonstration and Self-Guided Exploration". In Proc. IEEE Intl Conf. on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), pp.160-165, Genova, Italy.

Rozo, L., Calinon, S. and Caldwell, D.G. (2014). "Learning Force and Position Constraints in Human-robot Coopera-tive Transportation" In Proc. IEEE Intl Symposium on Robot and Human Interactive Communication (Ro-Man), pp. 619-624, Edinburgh, Scotland, UK.

Calinon, S., Bruno, D. and Caldwell, D.G. (2014)." A task-parameterized probabilistic model with minimal interven-tion control". In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 3339-3344, Hong Kong, China.

Bruno, D., Calinon, S. and Caldwell, D.G. (2014). "Null space redundancy learning for a flexible surgical robot". In Proceedings of the IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 2443-2448, Hong Kong, China.

Calinon, S. (2014). "Skills Learning in Robots by Interaction with Users and Environment". In Proceedings of the Intl Conf. on Ubiquitous Robots and Ambient Intelligence (URAI), Kuala Lumpur, Malaysia.

Malekzadeh, M. S. and Calinon, S. and Bruno, D. and Caldwell, D. G. "A Skill Transfer Approach for Continuum Ro-bots - Imitation of Octopus Reaching Motion with the STIFF-FLOP Robot", AAAI Symposium on Knowledge, Skill, and Behavior Transfer in Autonomous Robots (2014) Arlington, VA, USA.

Wang X, Geng T, Elsayed Y, Ranzani T, Saaj C, Lekakou, C. "A New Coefficient-Adaptive “Orthonormal Basis Function Model Structure for Identifying a Class of Pneumatic Soft Actuators”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Elsayed Y, Geng T, Lekakou C, Saaj C. “Design optimisation of soft silicone pneumatic actuators using finite element analysis”. Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference. 2014

Jan Fras, Jan Czarnowski, Mateusz Macias, and Jakub Glówka. Static Modeling of Multisection Soft Continuum Ma-nipulator for Stiff-Flop Project. Springer, 2014.

Event: Keynote Speech by Prof. Althoefer at the 20th International Congress of the European Association for Endoscopic Surgery (EAES), Brussels, Belgium
Title: Tools and Devices for Present and Future Surgery - New Generations of Endoscopes
Date: June 20-23, 2012

Event: Keynote Sir Alfred Cuschieri Lecture at the 20th International Congress of the European Association for Endoscopic Surgery (EAES), Brussels, Belgium
Title: The flexible endoscope as a surgical tool, Prof. Alberto Arezzo
Date: June 20-23, 2012

Event: Olympus Single Port Surgery Prize, by Arezzo A, Scozzari G, Famiglietti F, Passera R, Morino M at the 20th International Congress of the European Association for Endoscopic Surgery (EAES), Brussels, Belgium
Title: Is Single Port Laparoscopic Cholecystectomy safe? Results of a Systematic Review and Meta-Analysis
Date: June 20-23, 2012

Event: Hamlyn Symposium 2012, Imperial Royal Geographical Society, London, UK
Title: 2DOF MR-Compatible Cardiac Catheter Steering Mechanism, Ali Ataollahi
Date: July 1-3, 2012

Event: Keynote Speech at ReMAR 2012, Tianjin, China
Title: MR Compatible Optical Multi-Axis Force/Torque Sensors for Robotic Surgery based on Parallel Mechanisms, Prof. Kaspar Althoefer
Date: July 9-11, 2012

Event: B. Hochner, Invited speaker in a symposium on: “Invertebrate models for locomotion research". at the International Congress of Neuroethology, August 5-10, 2012 College Park, MD. USA
Title: The neurophysiological basis of motor function in the octopus - an animal with an unusual ‘embodiment’
Date: August 5-10, 2012

Event: 2012 IEEE International Conference on Multisensor Fusion and Information Integration, Hamburg, Germany
Title: An Optical Multi-Axial Force/Torque Sensor for Dexterous Grasping and Manipulation Ramon Sargeant, Hongbin Liu, Lakmal Seneviratne, Kaspar Althoefer
Date: September 13-15, 2012

Event: SMIT 2012, Society for Medical Innovation & Technology, Barcelona, Spain
Title: Which Treatment for Large Rectal Adenomas? Transanal Endoscopic Microsurgery or Endoscopic Submucosal Dissection? Results of a Systematic Review and Meta-Regression, Prof. Alberto Arezzo
Date: September 21, 2012

Event: Robotics Session, 2nd International Oncological Engineering Conference, Leeds, UK
Title: Intelligent Robotic Tools and Devices for MIS: Present and Future, Prof. Kaspar Althoefer
Date: September 17, 2012

Event: CoRe Show and Tell, King's College London
News: Prof. Kaspar Althoefer, Dr Thrishantha Nanayakkara, and several RAs and PhD students from the Centre for Robotics Research, Department of Informatics, King's College London presented current projects and progress, with an emphasis on the STIFF-FLOP project. The Show and Tell was open to all of King's College London staff and students.
Date: October 5, 2012

Event: EURONOTES 2012, Prague
Title: Working group on Appendectomy & Cholecystectomy, Prof. Alberto Arezzo
Date: October 5, 2012

Event: Accepted Paper at IROS 2012, Faro, Portugal
Title: Design of a Variable Stiffness Flexible Manipulator with Composite Granular Jamming and Membrane Coupling, Allen Jiang, Georgios Xynogalas, Prokar Dasgupta, Kaspar Althoefer, Thrish Nanayakkara
Date: October 9, 2012

Event: B. Hochner, Special Invited Guest Speaker in the 2012 Karger Workshop on “The Evolution of Brain Complexity and Animal Awareness” at the J.B Johnston Club Annual Meeting, New Orleans, USA
Title: The brain/body/behavior organization in an animal with an unusual morphology - an ‘embodied’ view on the organization of the nervous system of Octopus vulgaris
Date: October 11, 2012

Event: B. Hochner, Invited Guest Speaker in the 2012 J.B Johnston Club Annual Meeting, New Orleans, USA
Title: Conservation, convergence and variability in the neurophysiological organization of a learning and memory system in advanced molluscan cephalopods – octopus and cuttlefish
Date: October 12, 2012

Event: Keynote Lecture at the Italian Society for Colorectal Surgery, Sanremo, Italy
Title: Difficult colorectal polyps, Prof. Alberto Arezzo
Date: November 10, 2012

Event: Update in Coloproctology 2012, Vercelli, Italy
Title: EMR & ESD, NOTES & SILS, Prof. Alberto Arezzo
Date: December 10, 2012

Event: Advances in Intestinal and Colorectal Surgery, Naples, Italy
Title: Transanal Endoscopic Microsurgery, Prof. Alberto Arezzo
Date: December 13, 2012

Event: Accepted Paper at ESA 2013 (European Surgical Association), Beaune, France
Title: Systematic Review and Meta-Analysis of Endoscopic Submucosal Dissection versus Transanal Endoscopic Microsurgery for Non-invasive Large Rectal Lesions, Arezzo A, Passera R, Saito Y, Sakamoto T, Kobayashi N, Sakamoto N, Yoshida N, Naito Y, Fujishiro M, Niimi K, Ohya TR, Ohata K, Okamura S, Iizuka S, Takeuchi Y, Uedo N, Fusaroli P, Bonino MA, Verra M, Morino M
Date: April 12-13, 2013

Event: Intl Conf. on Robotics and Automation (ICRA), Workshop on Semantics, Identification and Control of Robot-Human-Environment Interaction, Karlsruhe (Germany)
Title: How to improve the generalization capability in imitation learning?, Sylvain Calinon
Date: May 10, 2013

Event: International Conference on Machine Learning (ICML), Workshop on Robot Learning, Atlanta (USA)
Title Robot learning by imitation with probabilistic dynamical systems, Sylvain Calinon
Date: June 20, 2013.

Event: Distinguished Lecture, King’s College London (United Kingdom)
Title: Robots – Are They Intelligent Yet?, Kaspar Althoefer
Date: April 22, 2013

Event: 2013 International Congress of the EAES, Austria
Title: Flexible robot manipulators for MIS: Initial developments and considerations, Kaspar Althoefer
Date: 2013

Event: The Hamlyn Symposium on Medical Robotics, London (United Kingdom)
Title: STIFF-FLOP - An inherently safe approach to MIS: Challenges and initial developments, Kaspar Althoefer
Date: 2013

Event: 2013 International Workshop on Soft Robotics and Morphological Computation, Switzerland
Title: MR-compatible Bio-inspired Soft Manipulator with Stretchable Sensing Sleeve for RMIS, Matteo Cianchetti, Helge Wurdemann, Arianna Menciassi, Kaspar Althoefer, Thrishantha Nanayakkara
Date: July 14-19, 2013

Event: Workshop on Technology Transfer and Innovation in Robotic Surgery. European Robotics Forum, Lyon (France)
Title: What does the digestive surgeon need and expect from a robot?, Alberto Arezzo
Date: March 19, 2013

Event: Annual Meeting of the European Surgical Association (ESA), Beaune (France)
Title: Systematic Review and Meta-Analysis of Endoscopic Submucosal Dissection versus Transanal Endoscopic Microsurgery for Non-invasive Large Rectal Lesions, Alberto Arezzo
Date: April 12/13 2013

Event: 2nd Joint spring meeting NE Thames ACPGBI Chapter and SICCR, S Vito al Tagliamento (Italy)
Title: New trends in minimally invasive surgery (VL-NOTES-Robot), Alberto Arezzo
Date: April 19, 2013

Event: IEEE International Conference on Robotics and Automation, Karlsruhe (Germany)
Title: Surgical robotics practice. Evaluating effectiveness and acceptance of robots in surgery: user centered design and economic factors, Alberto Arezzo
Date: March 6, 2013

Event: Trattamento multidisciplinare del carcinoma colorettale: aspetti innovativi, Torino (Italy)
Title: Linfonodo sentinella nella chirurgia colorettale, Alberto Arezzo
Date: March 28, 2013

Event: VII International Conference “Russian School of Colorectal Surgery”, Moskow (Russia)
Title: Basic skills in laparoscopic colorectal surgery. Course “Laparoscopic Colorectal Surgery: from Basics to Expertise, Alberto Arezzo
Date: March 28-29, 2013

Event: VII International Conference “Russian School of Colorectal Surgery”. Moskow (Russia)
Title: New technologies in Colorectal Cancer surgery, Alberto Arezzo
Date: March 30-31, 2013

Event: Technology Symposium. 21st International Congress of the European Association for Endoscopic Surgery, Vienna (Italy)
Title: The flexible endoscope as a tool for colorectal surgery, Alberto Arezzo
Date: June 19-22, 2013

Event: 21st International Congress of the European Association for Endoscopic Surgery,
Title: TEM vs ESD: a review. Postgraduate course 2. Colon and rectal surgery, Alberto Arezzo
Date: June 19-22, 2013

Event: 21st International Congress of the European Association for Endoscopic Surgery, Vienna (Italy)
Title: MUSIC Study – an update on EAES granted trial, Alberto Arezzo
Date: June 19-22, 2013

Event: 25th International Conference of the Society for Medical Innovation and Technology, Baden-Baden, Germany
Title: Surgical Snake-like Robots
Date: 5-7 September 2013

Event: Keynote Speech at Leeds Oncological Engineering Conference, Leeds, UK
Title: Stiffness controllability: A new paradigm for MIS robots
Date: 15-16 September 2013

Event: Richard Tiptaft Visiting Professorships, Guy’s Hospital, London, UK
Title: On stiffness-controllable robots for minimally invasive surgery
Date: 11-12 July 2013

Event: Design of Medical Devices Conference, TU Delft, The Netherlands
Title: Soft robotics: A new approach for minimally invasive surgery
Date: 7-9 October 2013

Event: Invited talk at Waseda University, Professor Atsuo Takanishi and Massimiliano Zecca
Title: Soft Robotics: A new approach for MIS
Date: 12 November 2013

Event: Research presentation at Ritsumeikan University, Kyoto, Japan, Professor Shinichi Hirai, Soft Robotics Laboratory
Title: Tactile sensing and stiffness-controllable robots
Date: 11 November 2013

Event: International Workshop on Soft Robotics and Morphological Computation Centro Stefano Franscini (CSF), Monte Verità, Ascona, Switzerland
Title: Preliminary mechanical design of a soft manipulator for minimally invasive surgery, M. Cianchetti, T. Ranzani, G. Gerboni, C. Laschi, A. Menciassi
Date: 14-19 July 2013

Event: the 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery Verona, Italy
Title: A modular soft manipulator with variable stiffness, T. Ranzani, M. Cianchetti, G. Gerboni, I. De Falco, G. Petroni, A. Menciassi
Date: 11-13 September 2013

Event: IROS2013. Finalist for the best ICROS IROS 2013 Application Paper Award
Title: STIFF-FLOP Surgical Manipulator: mechanical design and experimental characterization of the single module, M. Cianchetti, T. Ranzani, G. Gerboni, I. De Falco, C. Laschi, A. Menciassi
Date:

Event: Biomed Tech
Title: Development of a Cable Actuated Joint for a Surgical Robotic Flexible Arm, M. Zimmermann, T. Ranzani, A. Menciassi, B. Kellner
Date: 7 September 2013

Event: Society for Neuroscience Meeting, San Diego CA
Title: Coordination of flexible arms in the crawling behavior of the octopus, G. Levy, B. Hochner
Date: 9-13 December 2013

Event: Israel Society for Neuroscience, Eilat, Israel
Title: Octopus crawling involves a unique strategy for arms coordination, Guy L, Hochner B.
Date: 14-17 December 2013

Event: Medical Robotics 2013 – Conference Zabrze, Poland
Title: organised by Zbigniew Nawrat
Date: 13 December 2013

Event: Fundacja Rozwoju Kardiochirurgii; Politechnika Slaska
Title: Niestandardowe rozwiazanie problemu informacji zwrotej z pola operacyjnego dla konsoli robota STIFF-FLOP, Kamil Rohr, Lukasz Mucha, Krzysztof Lis
Date: 2013

Event: NII Shonan Meeting on Cognitive Social Robotics: intelligence based on embodied experience and social interaction
Title: Robot learning by imitation and exploration with probabilistic dynamical systems, Sylvain Calinon
Date: November 2013

Event: Workshop "Benchmarking of State-of-the-Art algorithms in Generating Human-Like Robot Reaching Motions", IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Atlanta, Georgia, USA.
Title: A task-parameterized probabilistic model based on dynamical systems, Sylvain Calinon
Date: October 2013

Event: Workshop "From Safety to Comfort in the Humanoid Coworker and Assistant", IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Atlanta, Georgia, USA.
Title: Robot learning by imitation and exploration with probabilistic dynamical systems, Sylvain Calinon
Date: October 2013

Event: 115th National Congress Italian Society for Surgery, Torino, Italy
Title: NOTES, hypothesis and facts, Alberto Arezzo
Date: 13-15 October 2013

Event: COLOPROCTOLOGY UPDATE, Vercelli, Italy
Title: NOTES & SILS, Alberto Arezzo
Date: 9 December 2013

Event: 2013 Gastroenterology UPDATE, Bolzano, Italy
Title: Notes, Alberto Arezzo
Date: 12 December 2013

Event: Guy Levy (won a travelling award): The 24th Annual Meeting of the Society for the Neural Control of Movement (NCM), Amsterdam, Netherlands
Title: Octopuses use unique motor control strategies for arm coordination in crawling
Date: April 22-26, 2014

Event: The Second International Conference on Advanced Robotics and Intelligent Systems, Taipei, Taiwan
Title: Variable stiffness robots for minimally invasive surgery: A new paradigm
Date: June 6-8, 2014

 

Journal Papers:

Arezzo A, Passera R, Scozzari G, Verra M, Morino M. “Laparoscopy for extra-peritoneal rectal cancer reduces shortterm mortality and morbidity. Results of a systematic review and meta-analysis”. Accepted by: UEG Journal, 2012.

Arezzo A, Passera R, Scozzari G, Verra M, Morino M. “Laparoscopy for rectal cancer reduces short-term mortality and morbidity. Results of a systematic review and meta-analysis”. Surg Endosc. 2012 Nov 25 [Epub ahead of print].

Arezzo A, Scozzari G, Famiglietti F, Passera R, Morino M. “Is Single Port Laparoscopic Cholecystectomy safe? Results of a Systematic Review and Meta-Analysis”. Accepted by: Surgical Endoscopy, 2012.

Arezzo A, Zornig C, Mofid H, Fuchs KH, Breithaupt W, Noguera J, Kaehler G, Magdeburg R, Perretta S, Dallemagne B, Marescaux J, Copaescu C, Graur G, Szasz A, Forgione A, Pugliese A, BuessG, Bhattacharjee H, Navarra G, Godina M, Shishin K, Morino M. The EuroNotes Clinical Registry for Natural Orifice Translumenal Endoscopic Surgery. A 2 years activity report. Submitted to: Surgical Endoscopy, 2012.

Feinstein N, Nesher N, Hochner B (2011) “Functional morphology of the neuromuscular system of the Octopus vulgaris arm”. Vie et Milieu – Life and Environment 61:219-229.

Hochner B “An Embodied View of Octopus Neurobiology”. (2012) Current Biology : 22:R887-R892.

Piccigallo M., Scarfogliero U., Quaglia C., Petroni G., Valdastri P., Menciassi A. and Dario P. "Design of a Novel Bimanual Robotic System for Single-Port Laparoscopy", Mechatronics, IEEE/ASME Transactions on , vol.15, no.6, pp.871-878, Dec. 2010

Zbigniew Małota ,Zbigniew Nawrat, Wojciech Sadowski, “Minimal Invasive Surgery Simulation (Symulatory chirurgii małoinwazyjnej)”, Engineering of Biomaterials 17; 126, pp. 2-11

Zbigniew Małota, Zbigniew Nawrat, Paweł Kostka, Wojciech Sadowski, Piotr Rybka, Kamil Rohr, “Stanowiska treningowo-badawcze narzędzi i robotów chirurgicznych Fundacji Rozwoju Kardiochirurgii im. prof. Z. Religi w Zabrzu’'”, Advances in medical robotics (Postępy robotyki medycznej) / Red.: L. Leniowska, Z. Nawrat.: Rzeszów : Uniwersytet Rzeszowski, 2013 ; s.151-163, ISBN: 978-83-63151-04-1.

Constantina Lekakou, Yahya Elsayed, Tao Geng and Chakravarthini M. Saaj, “Skins and Sleeves for Soft Robotics: Inspiration from Nature and Architecture,” Advanced Engineering Materials, online: 15 JAN 2015, DOI: 10.1002/adem.201400406.

Y. Elsayed, C. Lekakou, T. Ranazani, M. Cianchetti, M. Morino, M. Chirurgia, A. Arezzo, T. Gao, C. Saaj, “Crimped braided sleeves for soft, actuating arm in robotic abdominal surgery,” Minimally Invasive Therapy & Allied Technologies, 2015. DOI: 10.3109/13645706.2015.1012083

Y. Elsayed, A. Vincensi, C. Lekakou, Geng, C. Saaj, T. Ranazani, M. Cianchetti and A. Menciassi, “Finite element analysis (FEA) and design optimisation of a pneumatically actuating silicone module for robotic surgery applications,” Soft Robotics, 1(4), December 2014, 255-262.

Xiaochen Wang, Tao Geng, Yahya Elsayed, Chakravarthini Saaj, Constantina Lekakou, “A unified system identification approach for a class of pneumatically-driven soft actuators,” Robotics and Autonomous Systems, 2014, Available online 16 September 2014, ISSN 0921-8890, http://dx.doi.org/10.1016/j.robot.2014.08.017.  

Richter JN, Hochner B, and Kuba MJ (2015) Octopus arm movements under constrained conditions. Adaptation, modification and plasticity of motor primitives. J Exp Biol 218(7): p1069-1076.

Levy Guy, Tamar Flash, and Binyamin Hochner (2015) Arm Coordination in Octopus Crawling Involves Unique Motor Control Strategies Current Biology 25(9):p1195-1200

Hanassy S.,Botvinnik A., Flash T., and Hochner B. (2015) Stereotypical reaching movements of the octopus involve both bend propagation and arm elongation Bioinspiration & Biomimetics 10(3) 035001.

Y. Noh, S. Sareh, H. Würdemann, H. Liu, J. Back, J. Housden, K. Rhode, K. Althoefer, " Three-axis Fiber-optic Body Force Sensor for Flexible Manipulators," IEEE sensors Journal, 2015 (in press)

Sadati, SM Hadi, et al. "Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming." Intelligent Robotics and Applications. Springer International Publishing, 2015. 141-151.

I. De Falco, G. Gerboni, M. Cianchetti, A. Menciassi. " Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery". Journal of Visual Experiments. (105), e53118, doi:10.3791/53118 (2015). http://www.jove.com/video/53118/design-fabrication-an-elastomeric-unit-for-soft-modular-robots

G. Gerboni, T. Ranzani, A. Diodato, G. Ciuti, M. Cianchetti, A. Menciassi. "Modular soft mechatronic manipulator for minimally invasive surgery (MIS): overall architecture and development of a fully integrated soft module". Springer MECCANICA, Special issue on Soft-Mechatronics, 1-14, 2015. DOI: 10.1007/s11012-015-0267-0. http://link.springer.com/article/10.1007/s11012-015-0267-0

 

 

Peer Reviewed Papers:

Rimonda R, Arezzo A, Arolfo S, Salvai A, Morino M. “TransAnal Minimally Invasive Surgery (TAMIS) with SILS™ Port versus Transanal Endoscopic Microsurgery (TEM): a comparative experimental study”. Surg Endosc. 2013 May 1. [Epub ahead of print]

Arezzo A, Zornig C, Mofid H, Fuchs KH, Breithaupt W, Noguera J, Kaehler G, Magdeburg R, Perretta S, Dallemagne B, Marescaux J, Copaescu C, Graur F, Szasz A, Forgione A, Pugliese R, Buess G, Bhattacharjee HK, Navarra G, Godina M, Shishin K, Morino M. “The EURO-NOTES clinical registry for natural orifice transluminal endoscopic surgery: a 2-year activity report”. Surg Endosc. 2013 Mar 22. [Epub ahead of print]

Meining A, Spaun G, Fernández-Esparrach G, Arezzo A, Wilhelm D, Martinek J, Spicak J, Feussner H, Fuchs KH, Hucl T, Meisner S, Neuhaus H. “NOTES in Europe: summary of the working group reports of the 2012 EURO-NOTES meeting”. Endoscopy. 2013 Mar;45(3):214-7. doi: 10.1055/s-0032-1326205. Epub 2013 Feb 27.

Arezzo A, Scozzari G, Famiglietti F, Passera R, Morino M. “Is single-incision laparoscopic cholecystectomy safe? Results of a systematic review and meta-analysis”. Surg Endosc. 2013 Jan 26. [Epub ahead of print]

Arezzo A, Passera R, Scozzari G, Verra M, Morino M. “Laparoscopy for rectal cancer reduces short-term mortality and morbidity: results of a systematic review and meta-analysis”. Surg Endosc. 2013 May;27(5):1485-502. doi: 10.1007/s00464-012-2649-x. Epub 2012 Nov 25.

Calinon S, Kormushev P, Caldwell D G. “Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning”. Robotics and Autonomous Systems , 61 (4), 369–-379, April 2013.

Bruno D, Calinon S, Caldwell D G. “Bayesian nonparametric multi-optima policy search in reinforcement learning”. (AAAI) Conference on Artificial Intelligence. Bellevue, Washington, USA, 2013.

Calinon S. “How to improve the generalization capability in imitation learning?” IEEE Intl Conf. on Robotics and Automation (ICRA), Workshop on Semantics, Identification and Control of Robot-Human-Environment Interaction, (S. 1-4). Karlsruhe, Germany, May 2013.

Rozo L, Calinon S, Caldwell D G, Jimenez P, Torras C. “Learning collaborative impedance-based robot behaviors”. AAAI Conference on Artificial Intelligence. Bellevue, Washington, USA, 2013.

Rozo L, Jimenez P, Torras C. “Force-based robot learning of pouring skills using parametric hidden Markov models”. IEEE-RAS Intl Workshop on Robot Motion and Control. Wasowo, Poland, 2013.

Thomas C. Searle, Kaspar Althoefer, Lakmal Seneviratne and Hongbin Liu, “An Optical Curvature Sensor for Flexible Manipulators” 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013.

Helge A Wurdemann, Angela Faragasso, Thrishantha Nanayakkara, Lakmal D. Seneviratne, Kaspar Althoefer, “Modern Safe and Economic RMIS through Bio-inspiration using Haptic Feedback and Visual Servoing” 2013 IEEE International Conference on Robotics and Automation, Workshop on Evaluating effectiveness and acceptance of robots in surgery: user centered design and economic factors, Karlsruhe, 2013.

A. Jiang, T. Aste, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Granular jamming with hydraulic control”, ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC 2013), Portland, OR, USA, 2013.

A. Jiang, T. Aste, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Granular jamming transitions for a robotic mechanism” Powders & Grains 2013, Sydney, Australia, 2013.

A. Jiang, P. Agrawal, K. Althoefer, T. Nanayakkara, P. Dasgupta, , “Bio-inspired connective granular jamming for a robotic limb”, 35th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2013), Osaka, Japan, 2013.

A. Jiang, K. Althoefer, P. Dasgupta, T. Nanayakkara, “The Core-Snake, the variable stiffness laparoscopic camera”, The Hamlyn Symposium on Medical Robotics, London, United Kingdom, 2013.

M. Li, J. Konstantinova, V. Aminzadeh, T. Nanayakkara, L. D. Seneviratne, P. Dasgupta, K. Althoefer, "Real-time Visual Stiffness Feedback for Soft Tissue Palpation in a Telemanipulation Environment", The Hamlyn Symposium on Medical Robotics, London, United Kingdom, 2013.

J. Konstantinova, K. Althoefer, P. Dasgupta, T. Nanayakkara "Salient Features of Soft Tissue Examination Velocity during Manual Palpation", The Hamlyn Symposium on Medical Robotics, London, United Kingdom, 2013.

I. Zelman, M. Titon, Y. Yekutieli, S. Hanassy, B. Hochner, T. Flash, “Kinematic decomposition and classification of octopus arm movements”, Frontiers in Computational Neuroscience 7. Front. Comput. Neurosci., 24 May 2013 |
doi: 10.3389/fncom.2013.00060

B. Hochner “How nervous systems evolve in relation to their embodiment: what we can learn from octopuses and other molluscs”. Brain Behavior and Evolution (accepted)

B. Hochner and T. Shomrat, “The neurophysiological basis of learning and memory in an advanced invertebrate – the octopus in: Cephalopods Cognition”, Edit: A-S. Darmaillacq, L. Dickel, J.A. Mather, Cambridge University Press (in
press)

B. Hochner and T. Shomrat, “The Neurophysiological Basis of Learning and Memory in Advanced Invertebrates The Octopus and the Cuttlefish”, in Invertebrate Learning in the series, Handbook of Behavioral Neuroscience (Series Editor: Joe Huston, Düsseldorf, Germany), published by Elsevier/Academic Press. Title: Invertebrate Learning and Memory. Editors: Randolf Menzel and Paul R. Benjamin (in-press)

B. Hochner and T. Shomrat, “The neurophysiological basis of learning and memory in an advanced invertebrate – the octopus” in: Cephalopods Cognition edit: A-S. Darmaillacq, L. Dickel, J.A. Mather , Cambridge University Press (in press)

B. Hochner and T. Shomrat, “The Neurophysiological Basis of Learning and Memory in Advanced Invertebrates The Octopus and the Cuttlefish” in: Invertebrate Learning and Memory (2013), in the series, Handbook of Behavioral Neuroscience (Series Editor: Joe Huston, Düsseldorf, Germany), published by Elsevier/Academic Press. Title: Invertebrate Learning and Memory. Editors: Randolf Menzel and Paul R. Benjamin

H. Xie, A. Jiang, H. Wurdemann, H. Liu, L. Seneviratne, K. Althoefer, “MR-Compatible Tactile Force Sensor using Fibre Optics and Vision Sensor”, IEEE Sensors Journal, 2013.

H. Würdemann, E.L. Secco, T. Nanayakkara, K. Althoefer, K. Lis, L. Mucha, K. Rohr, Z. Nawrat, (2013), “Mapping Tactile Information of a Soft Manipulator to a Haptic Sleeve in RMIS”, 3rd Joint Workshop on New Technologies for Computer/
Robot Assisted Surgery (CRAS 2013), Verona, 11-13 September, 2013.

A. Jiang, E.L. Secco, H. Würdemann, T. Nanayakkara, K. Althoefer, P. Dasgupta, (2013), “Stiffness-controllable octopus-like robot arm for minimally invasive surgery”, 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2013), Verona, 11-13 September, 2013

I.B. Wanninayake, E.L. Secco, L.D. Seneviratne, K. Althoefer, “A Novel Probe Designed to Estimate Soft Tissue Stiffness in MIS”, Workshop on Cognitive Surgical Robotics, International Conference on Intelligent Robots and Systems (IROS 2013), 2013.

H. Xie, H. Liu, S. Luo, L. Seneviratne, K. Althoefer, “Fibre Optics Tactile Array Probe for Tissue Palpation During Minimally Invasive Surgery”, International Conference on Intelligent Robots and Systems (IROS 2013), 2013.

J. Konstantinova, M. Li, V. Aminzadeh, P. Dasgupta, K. Althoefer, T. Nanayakkara, “Force-Velocity Modulation Strategies for Soft Tissue Examination”, International Conference on Intelligent Robots and Systems (IROS 2013), 2013.

J. Konstantinova, M. Li, V. Aminzadeh, K. Althoefer, T. Nanayakkara, P. Dasgupta, “Evaluating Manual Palpation Trajectory Patterns in Tele-Manipulation for Soft Tissue Examination”, IEEE International Conference on Systems, Man, and Cybernetics, 2013.

Min Li, Shan Luo, Lakmal D. Seneviratne, Thrishantha Nanayakkara, Prokar Dasgupta, Kaspar Althoefer, “Haptics for Multifingered Palpation”, IEEE International conference on System, Man and Cybernetics, 2013, 4184-4189.

M. Li, J. Konstantinova, V. Aminzadeh, T. Nanayakkara, L. D. Seneviratne, P. Dasgupta, K. Althoefer, “Real-time Visual Stiffness Feedback for Soft Tissue Palpation in a Tele-manipulation Environment”, Hamlyn Symposium on Medical
Robotics, 2013, pp 77-78.

A. Jiang, K. Althoefer, P. Dasgupta, T. Nanayakkara, “The Core-Snake, the variable stiffness laparoscopic camera,” The Hamlyn Symposium on Medical Robotics, London, United Kingdom, 2013.

A. Jiang, T. Aste, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Granular jamming with hydraulic control”, ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
(IDETC 2013), Portland, OR, USA, 2013.

A. Jiang, T. Aste, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Granular jamming transitions for a robotic mechanism,” Powders & Grains 2013, Sydney, Australia, 2013.

A. Jiang, P. Agrawal, K. Althoefer, T. Nanayakkara, P. Dasgupta, “Bio-inspired connective granular jamming for a robotic limb,” 35th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2013), Osaka, Japan, 2013.

Z. Nawrat, P. Kostka, K. Lis, K. Rohr, W. Sadowski, K. Krzysztofik, P. Rybka, L. Mucha, Z. Malota, Z. Religi, “Roboty chirurgiczne- problem interfejsu operatora,” National Biocybernetics and Bioenginering Conference, Gdansk, Poland,
2013.

S. Calinon, T. Alizadeh and D.G. Caldwell, “Improving the extrapolation capability of task-parameterized movement models“. In Proceedings of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), 2013.
(CoTeSys Cognitive Robotics Best Paper Award finalist)

M.S. Malekzadeh, D. Bruno, S. Calinon, T. Nanayakkara, D.B. and Caldwell, “Skills transfer across dissimilar robots by learning context-dependent rewards“. In Proceedings of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems
(IROS), 2013.

M. Cianchetti, T. Ranzani, G. Gerboni, I. De Falco, C. Laschi, A. Menciassi, ”STIFF-FLOP Surgical Manipulator: mechanical design and experimental characterization of the single module” IROS 2013

S. Arolfo, M.E. Allaix, M. Migliore, F. Cravero,A. Arezzo and M. Morino " Transanal endoscopic microsurgery after endoscopic resection of malignant rectal polyps: a useful technique for indication to radical treatment" in Surg Endosc.
2013 Oct 30

A. Arezzo, R. Passera, Y. Saito, T. Sakamoto, N. Kobayashi, N. Sakamoto, N. Yoshida, Y. Naito, M. Fujishiro, K. Niimi, T. Ohya, K. Ohata, S. Okamura, S. Iizuka, Y. Takeuchi, N. Uedo, P. Fusaroli, M.A. Bonino, M. Verra and M. Morino "Systematic review and meta-analysis of endoscopic submucosal dissection versus transanal endoscopic microsurgery for large noninvasive rectal lesions" in Surg Endosc. 2013 Oct 23. [Epub ahead of print]

A. Arezzo, S. Arolfo, F. Cravero, M. Migliore, M.E. Allaix and M. Morino " Which treatment for large rectal adenoma? Preoperative assessment and therapeutic strategy." in Minim Invasive Ther Allied Technol. 2013 Sep 1. [Epub ahead
of print]

M.E. Allaix, M. Degiuli, A. Arezzo, S. Arolfo and M. Morino " Does conversion affect short-term and oncologic outcomes after laparoscopy for colorectal cancer?" in Surg Endosc. 2013 Jul 12. [Epub ahead of print]

R. Rimonda, A. Arezzo, S. Arolfo, A. Salvai and M. Morino "TransAnal Minimally Invasive Surgery (TAMIS) with SILS™ Port versus Transanal Endoscopic Microsurgery (TEM): a comparative experimental study." in Surg Endosc. 2013 May 1. [Epub ahead of print]

A. Arezzo, S. Arolfo, M. Mistrangelo, B. Mussa, P. Cassoni and M. Morino "Transrectal sentinel lymph node biopsy for early rectal cancer during transanal endoscopic microsurgery." in Minim Invasive Ther Allied Technol. 2013 Apr 17. [Epub ahead of print]

A. Arezzo, C. Zornig, H. Mofid,K.H. Fuchs, W. Breithaupt, J. Noguera, G. Kaehler, R. Magdeburg, S. Perretta, B. Dallemagne, J. Marescaux, C. Copaescu, F. Graur, A. Szasz, A. Forgione, R. Pugliese, G. Buess, H.K. Bhattacharjee, G. Navarra, M. Godina, K. Shishin and M. Morino M. "The EURO-NOTES clinical registry for natural orifice transluminal endoscopic surgery: a 2-year activity report." in Surg Endosc. 2013 Mar 22. [Epub ahead of print]

M. Morino, M.E. Allaix, S. Arolfo and A. Arezzo. "Previous transanal endoscopic microsurgery for rectal cancer represents a risk factor for an increased abdominoperineal resection rate." in Surg Endosc. 2013 Mar 12. [Epub ahead of
print]

A. Arezzo, A. Menciassi, P. Valdastri, G. Ciuti, G. Lucarini, M. Salerno, C. Di Natali, M. Verra, P. Dario and M. Morino "Experimental assessment of a novel robotically-driven endoscopic capsule compared to traditional colonoscopy." in
Dig Liver Dis. 2013 Feb 28. doi:pii: S1590-8658(13)00045-5. 10.1016/j.dld.2013.01.025. [Epub ahead of print]

A. Meining, G. Spaun, G. Fernández-Esparrach, A. Arezzo, D. Wilhelm, J. Martinek, J. Spicak, H. Feussner,K.H. Fuchs, T. Hucl, S. Meisner, H. Neuhaus. "NOTES in Europe: summary of the working group reports of the 2012 EURO-NOTES
meeting." in Endoscopy. 2013 Mar;45(3):214-7. doi: 10.1055/s-0032-1326205. Epub 2013 Feb 27.

A. Arezzo, R. Passera, G. Scozzari, M. Verra, and M. Morino. " Laparoscopy for extraperitoneal rectal cancer reduces short-term morbidity: Results of a systematic review and meta-analysis" in United European Gastroenterology Journal
February 2013 1: 32-47, doi:10.1177/2050640612473753

A. Arezzo, G. Scozzari, F. Famiglietti, R. Passera and M. Morino. "Is single-incision laparoscopic cholecystectomy safe? Results of a systematic review and meta-analysis." in Surg Endosc. 2013 Jan 26. [Epub ahead of print] PMID: 23355161 [PubMed - as supplied by publisher]

M. Morino, A. Arezzo and M.E. Allaix. " Transanal endoscopic microsurgery." in Tech Coloproctol. 2013 Feb;17 Suppl 1:55-61. doi: 10.1007/s10151-012-0936-0. Epub 2013 Jan 12. PMID: 23314951 [PubMed - in process]

J. Konstantinova, M. Li, G. Mehra, P. Dasgupta, K. Althoefer, T. Nanayakkara, “Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues,” Biomedical Engineering, IEEE Transactions on, vol.61, no.6, pp.1651-1659, 2014.

J. Konstantinova, A. Jiang, K. Althoefer, P. Dasgupta, T. Nanayakkara, ”Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery,” IEEE Sensors, Journal, 2014 – accepted for publication on 10th of
May, 2014.

M. Li, H. Liu, A. Jiang, L. D. Seneviratne, P. Dasgupta, K. Althoefer, H. Wurdemann, “Intra-operative tumour localization in robot-assisted minimally invasive surgery: a current review”, Proceedings of the Institution of Mechanical
Engineers Part H: Journal of Engineering in Medicine, 228(5):509-522, 2014.

H. Xie, A. Jiang, H. Wurdemann, H. Liu, L. Seneviratne, K. Althoefer, “Magnetic Resonance-Compatible Tactile Force Sensor using Fiber Optics and Vision Sensor”, IEEE Transaction on Sensors, 14 (3), pp. 829-838, 2014.

M. Cianchetti, T. Ranzani, G. Gerboni, T. Nanayakkara, K. Althoefer, P. Dasgupta, A. Menciassi, “Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach”, Soft Robotics, 1
(2), pp. 122-131, 2014.

I. Zelman, M. Titon, Y. Yekutieli, S. Hanassy, B. Hochner, T. Flash, “Kinematic decomposition and classification of octopus arm movements”, Frontiers in Computational Neuroscience 7, 2013.

B. Hochner, “How Nervous Systems Evolve in Relation to Their Embodiment: What We Can Learn from Octopuses and Other Molluscs”, Brain Behavior and Evolution 82:19-30, 2013.

B. Hochner, T. Shomrat, “The neurophysiological basis of learning and memory in an advanced invertebrate – the octopus” in: Cephalopods Cognition edit: A-S. Darmaillacq, L. Dickel, J.A. Mather , Cambridge University Press (in
press).

B. Hochner, T. Shomrat, “The Neurophysiological Basis of Learning and Memory in Advanced Invertebrates The Octopus and the Cuttlefish” in: Invertebrate Learning and Memory, in the series, Handbook of Behavioral Neuroscience
(Series Editor: Joe Huston, Düsseldorf, Germany), published by Elsevier/Academic Press. Title: Invertebrate Learning and Memory. Editors: Randolf Menzel and Paul R. Benjamin, 2013

S. Calinon, D. Bruno, M.S. Malekzadeh, T. Nanayakkara, D.G. Caldwell, “Human-robot skills transfer interfaces for a flexible surgical robot”, Computer Methods and Programs in Biomedicine 116, pp. 81-96, 2014.

N. Nesher, G. Levy, F.W. Grasso, B. Hochner, “Self-Recognition Mechanism between Skin and Suckers Prevents Octopus Arms from Interfering with Each Other”, Current Biology 24:1271-1275, 2014.

Y. Noh, S. Sareh, J. Back, H. Würdemann, T. Ranzani, E.L. Secco, A. Faragasso, H. Liu, K. Althoefer (2014), A Three-Axial Body Force Sensor for Flexible Manipulators, IEEE International Conference on Robotics and Automation (ICRA
2014), Hong Kong, 2014.

M. Li, A. Faragasso, J. Konstantinova, V. Aminzadeh, L. D. Seneviratne, P. Dasgupta, and K. Althoefer, "A novel tumour localization method using haptic palpation based on soft tissue probing data", IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, 2014.

S. Sareh, A. Jiang, A. Faragasso, Y. Noh, T. Nanayakkara, P. Dasgupta, L.D. Seneviratne, H.A. Wurdemann, K. Althoefer, “Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators”, IEEE International Conference on Robotics
and Automation (ICRA 2014), Hong Kong, 2014.

A. Faragasso, J. Bimbo, Y. Noh, H. Wurdemann, S. Sareh, H. Liu, T. Nanayakkara, K. Althoefer, “Novel Single Axis Force Sensor based on Visual Information for Minimally Invasive Surgery”, IEEE International Conference on Robotics and
Automation (ICRA 2014), Hong Kong, 2014.

I.B. Wanninayake, L.D. Seneviratne, K. Althoefer, “Estimation of Tissue Stiffness using a Prototype of Air-float Stiffness Probe”, IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, 2014.

H. Xie, H. Liu, K. Althoefer, “A Tactile Palpation Probe using Optical Fibers and Camera System” The Second International Conference on Advanced Robotics and Intelligent Systems (ARIS 2014), Taipei, Taiwan, 2014.

A. Jiang, S. Adejokun, A. Faragasso, K. Althoefer, P. Dasgupta, T. Nanayakkara, “The granular jamming integrated actuator” The Second International Conference on Advanced Robotics and Intelligent Systems (ARIS 2014), Taipei, Taiwan, 2014.

Y. Elsayed, C. Lekakou, C. Saaj, T. Geng, “Design optimisation of soft silicone pneumatic actuators using finite element analysis,” 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, 2014.

A. Faragasso, A. Stilli, J. Bimbo, Y. Noh, H. Liu, T. Nanayakkara, P. Dasgupta, H.A. Wurdemann, K. Althoefer “Add-On Stiffness Probe for Real-Time Soft Surface Characterisation in MIS” IEEE Engineering in Medicine and Biology Socie-ty, 2014.

Y. Noh, E.L. Secco, S. Sareh, H.A. Wurdemann, H. Liu, K. Althoefer “A Continuum Body Force Sensor Designed for Flexible Surgical Robotic Devices” IEEE Engineering in Medicine and Biology Society, 2014.

A. Stilli, F. Maghooa, H.A. Wurdemann, K. Althoefer “A new bio-inspired, antagonistically actuated and stiffness controllable manipulator” Workshop on New Technologies for Computer/Robot Assisted Surgery, 2014.

E.L. Secco, Y. Noh, S. Sareh, H.A. Wurdemann, H. Liu, K. Althoefer,"Modular integration of a 3 DoF F/T sensor for robotic manipulators", Workshop on New Technologies for Computer/Robot Assisted Surgery, Italy.

Malekzadeh, M.S., Calinon, S., Bruno, D. and Caldwell, D.G. (2014). "Learning by Imitation with the STIFF-FLOP Sur-gical Robot: A Biomimetic Approach Inspired by Octopus Movements". Robotics and Biomimetics 1:13, 1-15, Special Issue on Medical Robotics (Springer).

Calinon, S., Bruno, D., Malekzadeh, M.S., Nanayakkara, T. and Caldwell, D.G. (2014). "Human-robot skills transfer interfaces for a flexible surgical robot". Computer Methods and Programs in Biomedicine 116:2, 81-96, Special issue on new methods of human-robot interaction in medical practice (Elsevier).

Elsayed Y, Vincensi A, Lekakou C, Geng T, Saaj C, Ranzani T, Cianchetti M, Menciassi A. “Finite element analysis (FEA) and design optimisation of a pneumatically actuating silicone module for robotic surgery applications” Soft Robot-ics, 2014 Wang X, Geng T, Elsayed Y, Saaj C, Lekakou C, “A unified system identification approach for a class of pneumatical-ly-driven soft actuators”. Robotics and Autonomous Systems. 2014, Available online 16 September 2014, ISSN 0921-8890, http://dx.doi.org/10.1016/j.robot.2014.08.017

Hochner B. and Shomrat T., “The neurophysiological basis of learning and memory in an advanced invertebrate – the octopus” (2014) in: Cephalopods Cognition edit: A-S. Darmaillacq, L. Dickel, J.A. Mather , Cambridge University Press
M. Cianchetti and T. Ranzani, G. Gerboni, T. Nanayakkara, K. Althoefer, P. Dasgupta, A. Menciassi. "Soft robotics technologies to address shortcomings in today’s minimally invasive surgery: the STIFF-FLOP approach". Soft Robot-ics. June 2014, 1(2): 122-131.

T. Ranzani, M. Cianchetti, G. Gerboni, I. De Falco, G. Petroni, A. Menciassi "A modular soft manipulator with variable stiffness" the 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery Verona, Italy 11-13 September 2013.

I. De Falco, M. Cianchetti, A. Menciassi “STIFF-FLOP surgical manipulator: design and preliminary motion evalua-tion” 4th Joint WorkShop on Computer/Robot Assisted Surgery (CRAS), October 14-16, 2014. Genoa, Italy.

T. Ranzani, G. Gerboni, M. Cianchetti, A. Menciassi. "A bioinspired soft manipulator for minimally invasive surgery". Bioinspiration and biomimetics 10 (3), 035008, 2015. http://dx.doi.org/10.1088/1748-3190/10/3/035008

Elsayed Y, Vincensi A, Lekakou C, Geng T, Saaj CM, Ranzani T, Cianchetti M, Menciassi A (2014) “Finite Element Anal-ysis and Design Optimization of a Pneumatically Actuating Silicone Module for Robotic Surgery Applications” Soft Robotics, ahead of print. doi:10.1089/soro.2014.0016 Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P, Menciassi A (2014) “Soft robotics tech-nologies to address shortcomings in today’s minimally invasive surgery: the STIFF-FLOP approach” Soft Robotics, 1(2) 122-131

M. Mende, E. Gerz, H. Roth, "Evaluation of a magnetic 3D measurement system for application in computer assist-ed surgery compared to established optical tracking systems", 9th INTERNATIONAL CONFERENCE on Communications, Electromagnetics and Medical Applications (CEMA’14),Ocotober 16-18, Sofia, Bulgaria.

Seri Mastura Mustaza, Duale Mahdi, Chakravartini Saaj, Wissam A. Albukhanajer, Constantina Lekakou, Y. Elsayed and Jan Fras, “Tuneable Stiffness Design of Soft Continuum Manipulator,” accepted in 8th International Conference on Intelligent Robotics and Applications (ICIRA2015), Portsmouth, UK, 24-27 August 2015.

Xiaochen Wang, Tao Geng, Yahya Elsayed, Tommmaso Ranzani, Chakravarthini Saaj, Constantina Lekakou, “A new coefficient-adaptive orthonormal basis function model structure for identifying a class of pneumatic soft actuators,” Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, Illinois, USA, 14–18 September, 2014.

Y. Elsayed, C. Lekakou, T. Geng, C. M. Saaj, “Design optimisation of soft silicone pneumatic actuators using finite element analysis,” Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, 8-11 July 2014.

D. Bruno, S. Calinon, M. S. Malekzadeh, and D. G. Caldwell. Learning the stiffness of a continuous soft manipulator from multiple demonstrations. In Proc. Of the IEEE International Conference on Intelligent Robotics and Applications (ICIRA), Portsmouth (UK), 2015. Best Paper Award Finalist.

Silvério, J., Rozo, L., Calinon, S. and Caldwell, D.G. (2015). Learning Bimanual End-effector Poses from Demonstrations using Task-Parameterized Dynamical Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 464-470.

Rozo, L., Bruno, D., Calinon, S. and Caldwell, D.G. (2015). Learning Optimal Controllers in Human-robot Cooperative Transportation Tasks with Force and Position Constraints. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 1024-1030.

Fras, J.; Czarnowski, J.; Macias, M.; Glowka, J.; Cianchetti, M.; Menciassi, A., "New STIFF-FLOP module construction idea for improved actuation and sensing," in Robotics and Automation (ICRA), 2015 IEEE International Conference on , vol., no., pp.2901-2906, 26-30 May 2015, doi: 10.1109/ICRA.2015.7139595

Ali Shafti, Federica Andorno, Nicola Marchese, Simone Arolfo, Abdullatif Aydin, Oussama Elhage, Yohan Noh, Helge A Wurdemann, Alberto Arezzo, Prokar Dasgupta, Kaspar Althoefer, “Comfort and Learnability Assessment of a New Soft Robotic Manipulator for Minimally Invasive Surgery”, Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Milan, Italy, Aug. 25-29, 2015.

Zheng, Michael, et al. "Passive dynamics of high frequency bat wing flapping with an anisotropic membrane." Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on. IEEE, 2014 (Best student paper award).

A. Faragasso, A. Stilli, J. Bimbo, H.A. Wurdemann, K. Althoefer, “Multi-axis Stiffness Sensing Device for Medical Palpation” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.

S. Sareh, Y. Noh, T. Ranzani, H.A. Wurdemann, H. Liu, K. Althoefer, „A 7.5mm Steiner chain fiber-optic system for multi-segment flex sensing” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.

H.A. Wurdemann, A. Stilli, K. Althoefer, „An antagonistic actuation technique for simultaneous stiffness and position control” International Conference on Intelligent Robotics and Applications, 2015.

H.A. Wurdemann, S. Sareh, A Shafti, Y. Noh, A. Faragasso, H. Liu, S. Hirai, K. Althoefer, “Embedded electro-conductive yarn for shape sensing of soft robotic manipulators, IEEE Engineering in Medicine and Biology Society, 2015.

F. Maghooa, A. Stilli, H.A. Wurdemann, K. Althoefer, “Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle”, IEEE International Conference on Robotics and Automation, 2015.

A. Shiva, A. Stilli, Y. Noh, A. Faragasso, K. Althoefer and H.A. Wurdemann “Antagonistic actuation principle for a silicone-based manipulator” IEEE Transactions on Robotics, under review.

Yohan Noh, Joao Bimbo, Sina Sareh, Helge Arne Wurdemann, Agostino Stilli, Hongbin Liu, Kawal Rhode, Kaspar Althoefer, “Development Methodology of Multi-Axis Force/Torque Sensors based on Optoelectronic Technology”, IEEE International Conference on Robotics and Automation, 2016, submitted.

Lukas Lindenroth, Jungwhan Back, Adrian Schoisengeier, Yohan Noh, Helge Arne Wurdemann, Kaspar Althoefer, Hongbin Liu, “Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator”, IEEE International Conference on Robotics and Automation, 2016, submitted.

Agostino Stilli, Yohan Noh, Helge Arne Wurdemann, Kaspar Althoefer, “A Novel Variable Stiffness Link for Inherently Safe Modular Soft Robots”, IEEE International Conference on Robotics and Automation, 2016, submitted.

S. Luo, W. Mou, K. Althoefer, and H. Liu, “Localising the Object Contact through Matching Tactile Features with Visual Map”, IEEE International Conference on Robotics and Automation, Seattle, U.S.A, May., 2015

 

 

Meeting's Abstracts:

A. TURCHETTI-MAIA1,2, T. SHOMRAT1,3, B. HOCHNER1,4; (2014), Nitric oxide synthase is involved in mainte-nance but not in induction of activity-dependent LTP in the vertical lobe of the octopus. Society for Neuroscience (SfN) Meeting, Nov 14-19, Washington DC, USA

A.L. Turchetti-Maia, B. Hochner, T. Shomrat, “NO mediates LTP induction in the learning and memory area in the brains of octopus and cuttlefish”, SFN Meeting, San Diego CA, 2013.

Ana Turchetti-Maia Binyamin Hochner Tal Shomrat (2014). Nitric oxide synthase (NOS) mediates activity-dependent plasticity in an area of the octopus brain involved in learning and memory. International Cong-ress of Neuroethology, Sapporo Japan.

G. Levy, B. Hochner, “Coordination of flexible arms in the crawling behavior of the octopus”, Society for Neuroscience Meeting, San Diego CA, 2013.

G. Levy, B. Hochner, “Octopus crawling involves a unique strategy for arms coordination”, Israel Society for Neuroscience. Dec 14-17, 2013, Eilat Israel, 2013.

G. Levy, T. Flash, B. Hochner, “Octopuses use unique motor control strategies for arm coordination in crawling”, Society for the Neural Control of Movement (NCM) Annual Meeting, Amsterdam, Netherlands, 2014.

J. Richter, M. Kuba, B. Hochner. Adaptation of reaching and fetching movements in Octopus vulgaris. 176.11. 2012, Neuroscience Meeting Planner. New Orleans, LA: Society for Neuroscience, 2012. Online.

L. ZULLO1, N. NESHER2,3, F. BENFENATI1,4, B. HOCHNER (2014), Characterization of the static and dynamic forces involved in the Octopus vulgaris arm muscle performance. Society for Neuroscience (SfN) Meeting, Nov 14-19, Washington DC, USA

Michael Kuba, Tamar Gutnick, Binyamin Hochner. Meeting an alien – Behavioral experiments on the octopus. International Congress of Neuroethology 5-10 August 2012 College Park, MD, USA.

N. Nesher, G. Levy, F.W. Grasso, B. Hochner, “Self-recognition mechanism between skin and suckers prevents octopus arms from interfering with each other”, Society for the Neural Control of Movement (NCM) Annual Meeting, Amsterdam, Netherlands, 2014.

T. Gutnick, K. E. Thonhauser, B. Hochner and M. J. Kuba. Octopus vulgaris uses arm positional information to direct its arm in a two-ways choice maze . Program No. 294.14. 2012 Neuroscience Meeting Planner. New Orleans, LA: Society for Neuroscience, 2012. Online.

Tal Shomrat Ana Turchetti-Maia, Binyamin Hochner (2014). Conservation and convergence in the evolution of the cephalopod neural systems mediating learning and memory. International Congress of Neuroethology, Sapporo Japan.


Tamar Gutnick Binyamin Hochner Michael J Kuba (2014), Tactile discrimination learning in intact Octopus vulgaris using a two choice maze International Congress of Neuroethology, Sapporo Japan.

 

 

Workshops:

Cianchetti M, Laschi C (2014) “The OCTOPUS project as an incubator of soft robotics technologies” International workshop on Soft Robot @ ICRA 2014, Hong Kong, China.

Jan Czarnowski, Jan Fras, Jakub Glówka, Mateusz Macias, Adam Woloszczuk, Pawel Salek, "An intelligent data fusion system concept for the STIFF-FLOP project", ICRA 2014 Soft Medical Robots Full Day Workshop

B Hochner. “The embodied organization of octopus behaviour”. Invited Speaker to workshop entitled: Small brains, bright minds: Learning and memory in invertebrates. Hokkaido Neuroethology Workshops, July 26-27th 2014, Sapporo Japan

Helge Wurdemann, “Soft Robots for Minimal Access Surgery: An Update on Progress in EU Project STIFF-FLOP”, presented at the Hamlyn Symposium Workshop on Flexible Access Surgery, Imperial College London, July 2014.

Sylvain Calinon, Danilo Bruno, Milad S. Malekzadeh, Darwin G. Caldwell, Thrishantha Nanayakkara, Benny Hochner, Kaspar Althoefer, "Development of cognition in stiffness-controllable robot manipulators to aid surgeons during complex minimally invasive procedures", presented at the Hamlyn Symposium Workshop on Cognitive Surgical Robotics, Imperial College London, July 2014.

Ali Shafti, Federica Andorno, Nicola Marchese, Simone Arolfo, Abdullatif Aydin, Oussama Elhage, Yohan Noh, Helge A Wurdemann, Alberto Arezzo, Prokar Dasgupta, Kaspar Althoefer, “Benchmarking of Comfort and Learnability of a New Soft Robotic Tool for Key-hole Surgery”, Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), Brussels, Belgium, Sep., 2015.

 



Workshops Organized by Stiff-Flop:

Soft and flexible surgical robotics, STIFF-FLOP autumn school, Torino 9.-13. October 2015

EURO-NOTES 2015 Workshop, Torino, 12.-13. October 2015

Technology Symposium
14th World Congress of Endoscopic Surgery, Paris, 24.-28. June 2014

Consensus Conference on Robotic Surgery of the EAES
14th World Congress of Endoscopic Surgery, Paris, 24.-28. June 2014

Workshop on Soft and Stiffness-Controllable Robots for MIS
IEEE International Conference on Robotics and Automation 2014, Hong Kong, 1. June 2014

Special Session on Soft and Underactuated Robots
7th International Conference on Information and Automation for Sustainability, Colombo, 22.-24. December 2014

Project Overview

STIFF-FLOP will focus on Challenge 2 - Cognitive systems and robotics. In minimally invasive surgery, tools go through narrow openings and manipulate soft organs that can move, deform, or change stiffness. There are limitations on modern laparoscopic and robot-assisted surgical systems due to restricted access through Trocar ports, lack of haptic feedback, and difficulties with rigid robot tools operating inside a confined space filled with organs. Also, many control algorithms suffer from stability problems in the presence of unexpected conditions. Yet biological “manipulators”, like the octopus arm and the elephant trunk, can manipulate objects while controlling the stiffness of selected body parts and being inherently compliant when interacting with objects.

Motivation

In-line with Challenge-2 - Cognitive systems and robotics, this STIFF-FLOP aims to find clearer answers to a series of questions such as how low level motor control programs deal with the dilemma of exposing the brain to the stochastic phenomena in the natural world as they are vs. controlling the stiffness of the body to iron out much of the unwanted complexity in the physical world, whether such interactions lead to the synthesis of task specific associations or more generic physical laws of nature, what are the functional characteristics of primitive substrates of cognition that help to build either of the above associations, how various primitives gathered in different uncertain contexts are organized in long term memory, and how they interact among each other to orchestrate higher order cognition, etc. Developing a variable stiffness robotic system poses many design challenges in cognitive robotics,
novel mechanism design, manipulation and grasping in an uncertain environment, bio-inspired design and control, machine learning, and cognitive development through physical interactions.

Read more: Motivation

Aims

We would like to

  • Use biological inspiration to create novel, flexible manipulator structures that are inherently capable of morphing their state from completely soft to entirely articulated,
  • Create novel control strategies based on biological inspiration taken from octopus,
  • Embed distributed sensing (tactile as well as position) to enable cognitive development and intelligent control in a highly redundant manipulation device,
  • Advance learning and cognitive reasoning in a complete embodiment of a hyper-redundant manipulation system that experiences and learns from physical interactions with its environment,
  • Provide a practical solution to the important areas of minimally invasive surgery with great commercial potential and impact,
  • Bring together a multi-disciplinary team of scientific experts from engineering, biologists and medicine to progress a novel manipulation concept from an initial idea to a testable prototype.

Read more: Aims

Concept and Objectives

This project addresses important and timely objectives outlined by the current ICT call on cognitive systems and robotics (Challenge 2 – ICT 2011.2.1), including the development of artificial cognition  and improving robotic functionality. Completely in-line with the topics of this call, we propose to research and create artificial systems with cognitive capabilities in a framework that is based on engineering and design of robotic systems.

Read more: Concept and Objectives

Overall Strategy

strategy

 
 
 
 
 

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