Ulisse Bertocchi

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The capability of grasping and lifting an object in a suitable, stable and controlled way is an outstanding feature for a robot, and thus far, one of the major problems to be solved in robotics. No robotic tools able to perform an advanced control of the grasp as, for instance, the human hand does, have been demonstrated to date. Due to its capital(More)
This work presents an adaptive segmentation algorithm for endoscopic images. It is part of a complete system for robot-assisted endoscopy of the human sub-arachnoid spinal space. The role of the vision system is to provide a feedback for assisting the navigation of the endoscope and helping avoid damages to delicate tissues. Due to the presence of small(More)
The biomedical application this paper refers to is the neuroendoscopy of the sub-arachnoid spinal space. Such a kind of endoscopy is strongly challenging due to the tiny space to be explored and to the delicate anatomical structures which lie into it. In order to enhance the degree of safety of the endoscopic intervention, a robotic system for(More)
The biomedical application this paper refers to is the neuroendoscopy of the sub-arachnoid spinal space. Such a kind of endoscopy is strongly challenging due to the tiny space to be explored and to the delicate anatomical structures which lie into it. In order to have more precision and control in catheter maneuvering, and a more efficient monitoring of(More)
1 ARTS Lab. Scuola Superiore Sant’Anna Piazza Martiri della Libertà, 33 56127 Pisa, Italy cecilia@arts.sssup.it 2 IMT Doctoral School in Biorobotics Science and Engineering Via San Micheletto, 3 55100 Lucca, Italy 3 CRIM Lab. Scuola Superiore Sant’Anna Piazza Martiri della Libertà, 33 56127 Pisa, Italy 4 CNRS UMR 7152 Collège de France Place Marcelin(More)
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