Gianluigi Petroni

Learn More
—This paper presents the design and fabrication of Single-Port lapaRoscopy bImaNual roboT (SPRINT), a novel tele-operated robotic system for minimally invasive surgery. SPRINT, specifically designed for single-port laparoscopy, is a high-dexterity miniature robot, able to reproduce the movement of the hands of the surgeon, who controls the system through a(More)
BACKGROUND Single-port laparoscopic surgery (SPLS) is a novel surgical approach consisting of a single umbilical incision through which multiple instruments are inserted, thus avoiding additional incisions necessary in traditional multi-port laparoscopic surgery. SPLS imposes a number of ergonomic restrictions on the surgeon. As a partial solution, several(More)
Fig. 1. Achitecture of the STIFF-FLOP arm and dimensions of a single module. On the left inset section of the single module, on the right inset cross section of the module. Abstract— This paper presents the design of a single module composing a modular soft variable stiffness manipulator for minimal access surgery. The module exploits flexible fluidic(More)
This paper presents a novel master-slave teleoperated robotic platform designed for Single Port Laparoscopy. The SPRINT (Single-Port lapaRoscopy bimaNual roboT) is composed of two high-dexterity 6 Degrees of Freedom (DOFs) robotic arms, a stereoscopic camera and a dedicated console for the robot control by the surgeon. Along with a short summary of the(More)
BACKGROUND The concept of single-access procedures has gained greater attention from general surgeons during the past 5 years. Despite this wide momentum, these procedures pose several changes for the surgeon, such as impaired eye-hand coordination and restricted manipulation. In this context, robotic-assisted surgery represents a promising technology to(More)
This paper presents the control architecture and the first performance evaluation results of a novel and highly-dexterous 18 degrees of freedom (DOF) miniature master/slave teleoperated robotic system called SPRINT (Single-Port la-paRoscopy bimaNual roboT). The system was evaluated in terms of positioning accuracy, repeatability, tracking error during local(More)
The evolution of surgical robotics is following the progress of developments in Minimally Invasive Surgery (MIS), which is moving towards Single-Incision Laparoscopic Surgery (SILS) procedures. The complexity of these techniques has favored the introduction of robotic surgical systems. New bimanual robots, which are completely inserted into the patient's(More)
INTRODUCTION Merging robotics with laser eye surgery could enhance precision, repeatability and automation. During some eye laser procedures the patient is awake, thus eye stabilization is desired to avoid movements that could affect the treatment. MATERIAL AND METHODS The ESPRESSO platform has a two-stage actuation system to position a stabilization tool(More)
  • 1