Danilo De Lorenzo

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BACKGROUND Force feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off-axis gauges introduces a moment that increases the friction(More)
During neurosurgical “keyhole” procedures (i.e. functional neurosurgery and biopsies), linear probes are inserted into the brain toward selected targets. Recently, robotic systems have been introduced to help the surgeon to improve the operation accuracy and safety while simultaneously reducing the invasiveness of the procedure. In this paper,(More)
PURPOSE In this paper a new, easy-to-manufacture and easy-to-use ultrasound (US) probe calibration phantom for 3D freehand scanning is presented and evaluated, together with a new method for achieving an accurate and user-robust calibration using virtual plane. METHODS The phantom allows the optically tracked US probe to perform two rotations and two(More)
During needle insertion in soft tissue, detection of change in tissue properties is important both for diagnosis to detect pathological tissue and for prevention to avoid puncture of important structures. The presence of a membrane located deep inside the tissue results in a relatively small force variation at the needle tip that can be masked by relatively(More)
We validated the effectiveness of a coaxial needle insertion assistant under the condition that the needles were laterally deformed. The coaxial needle insertion assistant separates the cutting force at the needle tip from shear friction on the needle shaft, and haptically display it to a user in order to assists her/his perception during epidural puncture.(More)
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