Arianna Menciassi

Sant'Anna School of Advanced Studies | SSSUP · The Biorobotics Insititute

We compared applied forces on a newborn manikin face, cuff pressure, and air leak during positive pressure ventilation with a high vs. low resuscitation table. A randomized controlled crossover (AB/BA) trial of face mask ventilation where a neonatal manikin was placed on the resuscitation table adjusted to level operator’s xiphoid (high table posit...

The emergence of modern robotic technology and artificial intelligence (AI) enables a transformation in the textile sector. Manual fabric defect inspection is time-consuming, error-prone, and labor-intensive. This offers a great possibility for applying more AI-trained automated processes with safe human–robot interaction (HRI) to reduce risks of w...

Background Simulation training provides safe environment for skill acquisition and retention. This study addresses a critical challenge in Africa – umbilical cord and placenta management after childbirth – aiming to bridge theoretical learning with practical experiences through simulation. We realized a new low-cost high-fidelity simulator of place...

Real-time 3D transesophageal echocardiography (RT-3D TEE) allows 3D visualization of patient heart and catheters without exposing patient and operators to ionizing radiations. Nonetheless, during such procedures esophageal injuries occur due to improper probe manipulation and probe overheating. To tackle these problems, we propose a multisensorizat...

The IEEE Transactions on Medical Robotics and Bionics (T-MRB) is an initiative shared by the two IEEE Societies of Robotics and Automation – RAS – and Engineering in Medicine and Biology – EMBS.

The COVID-19 pandemic has highlighted the need to take advantage of specific and effective patient telemonitoring platforms, with specific reference to the constant monitoring of vital parameters of patients most at risk. Among the various applications developed in Italy, certainly there is reCOVeryaID, a web application aimed at remotely monitorin...

Robot-assisted surgery (RAS) involves mastering surgical instruments facing the absence of haptic feedback, thus prolonging the learning curves [1]. Applying excessive force to delicate tissues, such as blood vessels, can lead to serious intraoperative events like bleeding [2], causing conversion to open surgery in emergency. Surgeons need to devel...

Surgery has witnessed remarkable advancements in terms of enhancement of the overall quality and min- imization of the impact of surgical procedures on pa- tients. A notable evolution has occurred transitioning from traditional open-access approaches to minimally invasive surgery (MIS). Despite the undeniable advan- tages of MIS, significant challe...

A Chronic Total Occlusion (CTO) is a type of arte- rial blockage, which has persisted for more than three months, affecting the coronary arteries of the heart. Traditionally, CTO is treated by making a large incision in the chest area. This is a highly invasive procedure. Instead, catheter based approaches offer smaller inci- sions and exploit the...

In wearable robotics, physical Human-Machine Interfaces (pHMIs) should be able to adapt to the continuous physiological changes of body parts in an active, ergonomic, and safe way, ensuring a stable and comfortable biomechanical coupling with the user [1]. This is particularly urgent in limb prostheses, where the pHMI is constituted by the socket....

According to the 2020 Guidelines of the European Soci- ety of Cardiology, Atrial Fibrillation (AF) is recognized as the most prevalent cardiac arrhythmia, impacting approximately 2% to 4% of adults [1]. AF reduces left atrium contractility, increasing stroke risk fivefold. The percentage of strokes attributed to AF ranges from 1.5% at ages 50-59 to...

In lower limb prostheses, the physical interface constituted by the socket is a crucial component for the device success. This work proposes a new design based on a rigid frame integrated into a silicone structure which allows for a more comfortable biomechanical coupling with the residual limb and facilitates the integration of smart technologies....

Implantable neural interfaces with the central and peripheral nervous systems are currently used to restore sensory, motor, and cognitive functions in disabled people with very promising results. They have also been used to modulate autonomic activities to treat diseases such as diabetes or hypertension. Here, this study proposes to extend the use...

Fibre-reinforced soft robots are often considered in the design of fluid elastomer actuators, to counter ballooning and potential bursting when exposed to high levels of pressure. They also enhance deformation and navigation through confined spaces. These attributes are critical in applications such as minimally invasive surgical (MIS) procedures t...

Scientists around the world have long aimed to produce miniature robots that can be controlled inside the human body to aid doctors in identifying and treating diseases. Such microrobots hold the potential to access hard-to-reach areas of the body through the natural lumina. Wireless access has the potential to overcome drawbacks of systemic therap...

The number of robot-assisted minimally invasive surgeries is increasing annually, together with the need for dedicated and effective training. Surgeons need to learn how to address the novel control modalities of surgical instruments and the loss of haptic feedback, which is a common feature of most surgical robots. High-fidelity physical simulatio...

Endovascular intervention is a minimally invasive method for treating cardiovascular diseases. Although fluoroscopy, known for real-time catheter visualization, is commonly used, it exposes patients and physicians to ionizing radiation and lacks depth perception due to its 2D nature. To address these limitations, a study was conducted using teleope...

Micrometer-sized devices hold the potential to revolutionize medicine by improving diagnostic abilities, increasing therapeutic efficiency and reducing adverse effects. To safely operate microrobots (MRs) inside the human body, accurate localization strategies based on medical imaging should be adopted. Ultrasound (US) imaging has recently gained a...

Simulation in healthcare has already demonstrated extraordinary potential in high-income countries. However, to date, few authors have explored the possibility of applying simulation-based training in African settings, highlighting the necessity of need-based training protocols capable of addressing economic, social, and cultural aspects. In this f...

How and when the forces are applied during neonatal intubation are currently unknown. This study investigated the pattern of the applied forces by using sensorized laryngoscopes during the intubation process in a neonatal manikin. Nine users of direct laryngoscope and nine users of straight-blade video laryngoscope were included in a neonatal manik...

Transesophageal echocardiogram (TEE) plays an important role in diagnosing cardiac conditions such as valvular diseases and cardiac embolism, as well as guiding various cardiac interventions. It provides detailed cardiac imaging by inserting a probe into the esophagus, which offers an unobstructed view of the heart's chambers and valves. Addressing...

Restoring bladder sensation in patients with bladder dysfunctions by performing urinary volume monitoring is an ambitious goal. The bioimpedance technique has shown promising results in wearable solutions but long-term validation and implantable systems are not available, yet. In this work, we propose to implant commercial bioimpedance sensors on b...

Aortic valve surgery is the preferred procedure for replacing a damaged valve with an artificial one. The ValveTech robotic platform comprises a flexible articulated manipulator and surgical interface supporting the effective delivery of an artificial valve by teleoperation and endoscopic vision. This article presents our recent work on force-perce...

Minimally Invasive Surgery (MIS) is increasingly employed in several medical disciplines. During minimal invasive cardiovascular approaches, flexible instruments such as catheters or endoscopes are navigated along a tortuous path to reach a deeply seated target site. Navigation through the vasculature is not without risk as the vessel can be fragil...

Minimally invasive endovascular procedures rely heavily on catheter devices. However, traditional catheters lack active steering requiring considerable skill on the surgeon’s part to accurately position the tip. While catheter tips could be made steerable using tendon-driven and Pneumatic Artificial Muscle (PAM) approaches, remote magnetic actuatio...

In the food and medical packaging industries, clean packaging is crucial to both customer satisfaction and hygiene. An operational Quality Assurance Department (QAD) is necessary for detecting contaminated packages. Manual examination becomes tedious and may lead to instances of contamination being missed along the production line. To address this...

Minimally invasive catheter-based interventions normally take place under the guidance of fluoroscopy. However, fluoroscopy is harmful to both patients and clinicians. Moreover, it only offers 2D shape visualization of flexible devices. To solve the problem of harmful radiation and offer 3D pose and shape information, recent studies propose a combi...

Background How and when the forces are applied during neonatal intubation are currently unknown. This study investigated the pattern of the applied forces by using sensorised laryngoscopes during the intubation process in a neonatal manikin. Methods Nine experienced users of direct laryngoscope and nine experienced users of straight blade video la...

Unlabelled: The Human Machine Interface (HMI) of intraluminal robots has a crucial impact on the clinician's performance. It increases or decreases the difficulty of the tasks, and is connected to the users' physical and mental stress. Objective: This paper presents a framework to compare and evaluate different HMIs for robotic colonoscopy, with...

Increased demand for less invasive procedures has accelerated the adoption of Intraluminal Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and vessels. As navigation through lumens and vessels is quite complex, interest grows to establish autonomous navigation techniques for IP and EI for reaching the target area....

This study presents a novel robotic module that combines rigid, rigidbut compliant,andsoft components toenable actuation, proprioceptive sensing, and variable stiffness. Three spring-reinforced soft actuators are employed for positioning the module in the 3D space by exploiting a ball joint as rotation center. Moreover, soft pads that are placed ar...

Artificial intelligence (AI) applications in medical robots are bringing a new era to medicine. Advanced medical robots can perform diagnostic and surgical procedures, aid rehabilitation, and provide symbiotic prosthetics to replace limbs. The technology used in these devices, including computer vision, medical image analysis, haptics, navigation,...

Optical fiber-based shape sensing is gaining popularity in cardiac catheterization lately. Typically, these procedures are taking place under the guidance of fluoroscopy. However, fluoroscopy has several disadvantages. Thanks to fiber optic shape sensing and Electromagnetic Tracking (EMT), the 3D catheter shape can now be tracked in real-time witho...

Over the past decade, there has been a growing interest in the development of an artificial pancreas for intraperitoneal insulin delivery. Intraperitoneal implantable pumps guarantee more physiological glycemic control than subcutaneous wearable ones, for the treatment of type 1 diabetes. In this work, a fully implantable artificial pancreas refill...

Background: Among the different factors affecting socket comfort, the pressure applied on residual limb tissues is a crucial parameter for the success or failure of any prosthetic device. However, only a few incomplete data are available on people with transfemoral amputation, in this regard. This work aims at filling this gap in the literature....

Urinary bladder cancer is the tenth most common cancer in the world with an incidence of approximately 550,000 new cases each year [1]. Non-muscle invasive tumors are locally removed with trans urethral resection or chemotherapy, while invasive tumors (30% of cases) are generally treated with the surgical removal of the entire bladder and the ureth...

Background: Urinary incontinence (UI) is a common and frustrating condition that affects patients' quality of life as well as the Healthcare systems. Currently, the most severe cases of UI are treated using implanted, invasive artificial sphincters. We propose an innovative, minimally invasive magnetic endourethral sphincter for the treatment of s...

Increased demand for less invasive procedures has accelerated the adoption of Intraluminal Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and vessels. As navigation through lumens and vessels is quite complex, interest grows to establish autonomous navigation techniques for IP and EI for reaching the target area....

In lower limb prostheses, the physical interface constituted by the socket is a crucial component for the device success. This work proposes a new design based on a rigid frame integrated into a silicone structure which allows for a more comfortable biomechanical coupling with the residual limb and facilitates the integration of smart technologies....

Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements in surgical training programs in both physical and virtual environments, it is imperative to develop generalizable methods for automatically assessing skills. In this paper, we propose a novel approach for skill assess...

Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements in surgical training programs in both physical and virtual environments, it is imperative to develop generalizable methods for automatically assessing skills. In this paper, we propose a novel approach for skill assess...

Transcarotid Artery Revascularization (TCAR) is typically performed by manual catheter insertion and implies radiation exposure for both the patient and the surgeon. Taking advantage from robotics and artificial intelligence (AI), this letter presents a robotic ultrasound (RUS) platform for improving the procedure. To this purpose, ultrasound (US)...

Purpose: In adult mannequins, videolaryngoscopy improves glottic visualization with lower force applied to upper airway tissues and reduced task workload compared with direct laryngoscopy. This trial compared oropharyngeal applied forces and subjective workload during direct vs indirect (video) laryngoscopy in a neonatal mannequin. Methods: We c...

Soft magnetic structures having a non‐uniform magnetization profile can achieve multimodal locomotion that is helpful to operate in confined spaces. However, incorporating such magnetic anisotropy into their body is not straightforward. Existing methods are either limited in the anisotropic profiles they can achieve or too cumbersome and time‐consu...

Standard industrial robotic manipulators use well-established high performing technologies. However, such manipulators do not guarantee a safe Human–Robot Interaction (HRI), limiting their usage in industrial and medical applications. This paper proposes a novel local path planner for spherical wrist manipulators to control the execution of tasks w...

Simulators for gastrointestinal (GI) endoscopy offer the opportunity to train and assess clinician skills in a low-risk environment. Physical simulators can enable direct instrument-to-organ interactions not provided by virtual platforms. However, they present scarce visual realism and limited variability in their anatomical conditions. Herein, we...

Vaginal delivery is one of the main causes of pelvic floor damage, which can lead to short- and long-term clinical consequences called pelvic floor dysfunctions. The number of women affected by this pathology is continuously rising, representing both a medical issue and an important financial burden. Prevention represents the best strategy of care,...

Objective To prove the potentialities of an integrated and sensorized childbirth platform as an innovative simulator for education of inexperienced gynecological and obstetrical medical students. Methods A total of 152 inexperienced medical students were recruited to a simulation program on labor progression evaluation. After an introductory lectu...

In bioinspired soft robotics, very few studies have focused on fluidic transmissions and there is an urgent need for translating fluidic concepts into realizable fluidic components to be applied in different fields. Nature has often offered an inspiring reference to design new efficient devices. Inspired by the working principle of a marine worm, t...

In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address this challenge, this paper presents a novel compliant motion control algorithm that re...

Medical microrobots (MRs) hold the potential to radically transform several interventional procedures. However, to guarantee therapy success when operating in hard-to-reach body districts, a precise and robust imaging strategy is required for monitoring and controlling MRs in real-time. Ultrasound (US) may represent a powerful technology, but MRs'...

[This corrects the article DOI: 10.1063/5.0097145.].

Over the past few decades, finding more efficient and selective administration routes has gained significant attention due to its crucial role in the bioavailability, absorption rate and pharmacokinetics of therapeutic substances. The pulmonary delivery of drugs has become an attractive target of scientific and biomedical interest in the health car...

The development of flexible and soft robots generates new needs in terms of instrumentation, as large encountered deformations require highly stretchable strain sensors. In this regard, we contribute to the adoption of inductive sensors by providing tools to model and exploit them, and showing their relevance experimentally. First, strain estimatio...

Intraperitoneal insulin delivery using implantable pumps is a promising solution for glycemic control in type-1 diabetes. It results in fast insulin pharmaco-kinetics and pharmaco-dynamics that well mimic human physiological delivery. In the solutions currently available on the market, the refilling procedure is invasive and brings with it complica...

A correct evaluation of the fetus progress into the birth canal during labor is often a complicated task, but it is of fundamental importance for a proper delivery management. Indeed, incorrect assessment of fetal presentation, position and station could lead to severe complications for both the fetus and the mother. Currently, fetus progress asses...

Continuum robots such as robotic catheters are increasingly being used in minimally invasive surgery. Compliance contributes to enhanced safety during e.g. catheter insertion, however, estimation of contact force and location may help clinicians avoiding exerting excessive force. Ultimately this could lead to faster and safer interventions. Researc...