Agostino Stilli

Agostino Stilli
University College London | UCL · Department of Medical Physics and Bioengineering

PhD, MScEng, BSE

About

46
Publications
16,073
Reads
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744
Citations
Additional affiliations
September 2013 - November 2017
King's College London
Position
  • PhD Student

Publications

Publications (46)
Article
In retinal surgery clinicians access the internal volume of the eyeball through small scale trocar ports, typically 0.65 mm in diameter, to treat vitreoretinal disorders like idiopathic epiretinal membrane and age-related macular holes. The treatment of these conditions involves the removal of thin layers of diseased tissue, namely the epiretinal m...
Conference Paper
This paper presents a novel, low cost, organ perfusion machine designed for use in research. The modular and versatile nature of the system allows for additional sensing equipment to be added or adapted for specific use. Here we introduce the system and present its preliminary evaluation by assessing its ability to maintain a predetermined input pr...
Conference Paper
Robotic-assisted partial nephrectomy (RAPN) is a surgi- cal procedure that employs robotics to remove a portion of diseased kidney. During the procedure, a drop-in Ultrasound (US) probe is used to identify the resec- tion margins. Although the robot facilitates the task, the scanning of the kidney proves challenging due to slippage and requires a h...
Conference Paper
Colorectal cancer (CRC) is nowadays one of the deadliest cancer but the high surviving rate is achievable if the disease is diagnosticated and treated at the early stage. However, the standard procedure represents a discomfortable treatment for many patients at the point that many are discouraged in undergoing routine screening program. In fact, th...
Article
Full-text available
Purpose: Automation of sub-tasks during robotic surgery is challenging due to the high variability of the surgical scenes intra- and inter-patients. For example, the pick and place task can be executed different times during the same operation and for distinct purposes. Hence, designing automation solutions that can generalise a skill over differe...
Preprint
In robotic-assisted partial nephrectomy, surgeons remove a part of a kidney often due to the presence of a mass. A drop-in ultrasound probe paired to a surgical robot is deployed to execute multiple swipes over the kidney surface to localise the mass and define the margins of resection. This sub-task is challenging and must be performed by a highly...
Preprint
With the advent of soft robotics the research community has been exploring how to exploit the inherent adaptability of soft elastic materials to overcome the limitations of systems based on rigid materials. A proof-of-concept design of a crawling robot for pipe inspection and preliminary analysis of its locomotion capabilities are presented in this...
Article
Full-text available
Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade with a range of new robotic devices emerging to address unmet clinical needs across different s...
Article
Full-text available
Purpose Robotic-assisted partial nephrectomy (RAPN) is a tissue-preserving approach to treating renal cancer, where ultrasound (US) imaging is used for intra-operative identification of tumour margins and localisation of blood vessels. With the da Vinci Surgical System (Sunnyvale, CA), the US probe is inserted through an auxiliary access port, gras...
Preprint
Full-text available
Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade with a range of new robotic devices emerging to address unmet clinical needs across different sp...
Article
Full-text available
Intratympanic steroid injections are commonly employed in treating ear diseases, such as sudden sensorineural hearing loss or Meniere's disease through drug delivery via the middle ear. Whilst being an effective treatment, the procedure has to be performed by a trained surgeon to avoid delicate regions in the patient's anatomy and is considered pai...
Article
Full-text available
PurposeIn robotic-assisted partial nephrectomy (RAPN), the use of intraoperative ultrasound (IOUS) helps to localise and outline the tumours as well as the blood vessels within the kidney. The aim of this work is to evaluate the use of the pneumatically attachable flexible (PAF) rail system for US 3D reconstruction of malignant masses in RAPN. The...
Article
Collaborative robots (cobots) open up new avenues in the fields of industrial robotics and physical Human-Robot Interaction (pHRI) as they are suitable to work in close approximation and in collaboration with humans. The integration and control of variable stiffness elements allow inherently safe interaction. Apart from notable work on Variable Sti...
Conference Paper
Full-text available
During laparoscopic surgery, tissues frequently need to be retracted and mobilized for manipulation or visuali-sation. State-of-the-art robotic platforms for minimally invasive surgery (MIS) typically rely on rigid tools to interact with soft tissues. Such tools offer a very narrow contact surface thus applying relatively large forces that can lead...
Conference Paper
Full-text available
During laparoscopic surgery, tissues frequently need to be retracted and mobilized for manipulation or visuali-sation. State-of-the-art robotic platforms for minimally invasive surgery (MIS) typically rely on rigid tools to interact with soft tissues. Such tools offer a very narrow contact surface thus applying relatively large forces that can lead...
Chapter
In this paper, we present a kinematic control and obstacle avoidance for the soft inflatable manipulator which combines pressure and tendons as an actuating mechanism. The position control and obstacle avoidance took inspiration from the phenomena of a magnetic field in nature. The redundancy in the manipulator combined with a planar mobile base is...
Conference Paper
Full-text available
In this paper, we present a kinematic control and obstacle avoidance for the soft inflatable manipulator which combines pressure and tendons as an actuating mechanism. The position control and obstacle avoidance took inspiration from the phenomena of a magnetic field in nature. The redundancy in the manipulator combined with a planar mobile base is...
Conference Paper
During Robotic-Assisted Partial Nephrectomy (RAPN) part cancer cells encapsulated by a tumor in the kidney are excised. Ultrasound (US) imagining is used as an intra- operative technique to identify and outline the target tumor. During the surgical procedure, executed with the da Vinci Surgical System (Sunnyvale, CA), the US probe is usually ”dropp...
Article
Full-text available
Robotic-assisted partial nephrectomy is a surgical operation in which part of a kidney is removed typically because of the presence of a mass. Pre-operative and intraoperative imaging techniques are used to identify and outline the target mass, thus the margins of the resection area on the kidney surface. Drop-in ultrasound probes are used to acqui...
Conference Paper
Full-text available
Soft robotic structures might play a major role in the 4th industrial revolution. Researchers have successfully demonstrated advantages of soft robotics over traditional robots made of rigid links and joints in several application areas including manufacturing, healthcare and surgical interventions. However, soft robots have limited ability to exer...
Conference Paper
Full-text available
Robot-Assisted Partial Nephrectomy (RAPN) is a medical procedure in which part of a kidney is removed, typically because of the presence of a tumour. RAPN is the second most diffused robotically assisted surgical procedure worldwide after prostatectomy [1]. The advantages of this robot-assisted procedure are detailed in [2], and in [3] it is argued...
Article
Full-text available
This paper presents new findings concerning a hand-held stiffness probe for the medical diagnosis of abnormalities during palpation of soft-tissue. Palpation is recognized by the medical community as an essential and low-cost method to detect and diagnose disease in soft-tissue. However, differences are often subtle and clinicians need to train for...
Conference Paper
Full-text available
Stroke is one of the leading causes of disability worldwide: post-stroke disabilities affect the upper and lower limbs, significantly undermining a subject's autonomy in the Activities of Daily Living (ADLs). Among post-stroke disabilities, one of the most impairing and widespread conditions is the clenched fist deformity: the subject experiences a...
Chapter
Soft robotic structures might play a major role in the 4th industrial revolution. Researchers have demonstrated advantages of soft robotics over traditional robots made of rigid links and joints in several application areas including manufacturing, healthcare, and surgical interventions. However, soft robots have limited ability to exert larger for...
Chapter
Soft robotic structures might play a major role in the 4th industrial revolution. Researchers have demonstrated advantages of soft robotics over traditional robots made of rigid links and joints in several application areas including manufacturing, healthcare, and surgical interventions. However, soft robots have limited ability to exert larger for...
Conference Paper
Full-text available
Intelligent perception to determine the physical interaction between robotic hands and the environment is a topic of great interest for the sensing and robotics communities. Sensor information on object stiffness and associated object deformation is essential to plan and execute stable and tight grasps. This paper proposes a novel robot-finger-inte...
Article
Full-text available
Tactile perception is a feature benefiting reliable grasping and manipulation. This paper presents the design of an integrated fingertip force sensor employing an optical fiber based approach where applied forces modulate light intensity. The proposed sensor system is developed to support grasping of a broad range of objects, including those that a...
Conference Paper
Full-text available
Grasping in an uncertain environment is a topic of great interest in robotics. In this paper we focus on the challenge of object handover capable of coping with a wide range of different and unspecified objects. Handover is the action of object passing an object from one agent to another. In this work handover is performed from human to robot. We p...
Conference Paper
Full-text available
Nowadays, the field of industrial robotics focuses particularly on collaborative robots that are able to work closely together with a human worker in an inherently safe way. To detect and prevent harmful collisions, a number of solutions both from the actuation and sensing sides have been suggested. However, due to the rigid body structures of the...
Article
Full-text available
The recent decade has seen an astounding increase of interest and advancement in a new field of robotics, aimed at creating structures specifically for the safe interaction with humans. Softness, flexibility, and variable stiffness in robotics have been recognized as highly desirable characteristics for many applications. A number of solutions were...
Conference Paper
Full-text available
Proximity and distance estimation sensors are broadly used in robotic hands to enhance the quality of grasping during grasp planning, grasp correction and in-hand manipulation. This paper presents a fiber optical proximity sensor that is integrated with a tactile sensing fingertip of a robotic hand of a mobile robot. The distance estimation of prox...
Conference Paper
Full-text available
Flexible endoscopes are inserted into the human body through natural orifices or through small incisions in the skin to obtain visual images of internal soft tissue. Compared to rigid scopes, flexible scopes offer enhanced dexterity. Those used in today's medical interventions are typically made of a sequence of small rigid links and joints. The op...
Article
Full-text available
There is an emerging trend toward soft robotics due to its extended manipulation capabilities compared to traditionally rigid robot links, showing promise for an extended applicability to new areas. However, as a result of the inherent property of soft robotics being less rigid, the ability to control/obtain higher overall stiffness when required i...
Conference Paper
Full-text available
It is well known that tactile information can be used to enhance the quality of grasping. Therefore, new technological solutions for sensing in grasping are needed. This paper presents an optical based fingertip sensor that measures both interaction forces and proximity between fingertip and environment. The combination of multiple sensing modaliti...
Conference Paper
Full-text available
This paper presents an innovative hand-held device able to compute stiffness when interacting with a soft object. The device is composed of four linear indenters and a USB camera. The stiffness is computed in real-time, tracking the movements of spherical features in the image of the camera. Those movements relate to the movements of the four inden...
Conference Paper
The application of soft robots can result in significant improvements within a number of areas where traditional robots are currently deployed. However, a challenging task when creating soft robots is to exert effective forces. This paper proposes to combine pneumatic and tendon-driven actuation mechanisms in an entirely soft outer sleeve realising...
Conference Paper
Full-text available
This paper proposes a soft, inflatable manipulator that is antagonistically actuated by tendons and pneumatics. The combination of the two actuation mechanisms in this antagonistic robot structure is inspired by the octopus which uses its longitudinal and transversal muscles to steer, elongate, shrink and also stiffen its continuum arms. By 'activa...
Conference Paper
Full-text available
The application of soft robots can result in significant improvements within a number of areas where traditional robots are currently deployed. However, a challenging task when creating soft robots is to exert effective forces. This paper proposes to combine pneumatic and tendon-driven actuation mechanisms in an entirely soft outer sleeve realising...
Conference Paper
Full-text available
This paper explores a new hybrid actuation principle combining pneumatic and tendon-driven actuators for a soft robotic manipulator. The fusion of these two actuation principles leads to an overall antagonistic actuation mechanism whereby pneumatic actuation opposes tendon actuation - a mechanism commonly found in animals where muscles can oppose e...
Conference Paper
Full-text available
This paper explores a novel stiffness sensor which is mounted on the tip of an laparoscopic camera. The proposed device is able to compute stiffness when interacting with soft surfaces. The sensor can be used in Minimally Invasive Surgery, for instance, to localise tumor tissue which commonly has a higher stiffness when compared to healthy tissue....

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Project
Clearing clutter bit by bit