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January 1998 - June 2015
January 1992 - present
January 1986 - present
Publications
Publications (103)
La rehabilitación es crucial para pacientes que han sufrido un accidente cerebrovascular. En este ámbito, los sistemas robóticos posibilitan ejercicios repetitivos y precisos, esenciales para la recuperación motora. RobHand, un exoesqueleto de mano desarrollado por el Instituto de Tecnologías Avanzadas de la Producción de la Universidad de Valladol...
Partially automated robotic systems, such as camera holders, represent a pivotal step towards enhancing efficiency and precision in surgical procedures. Therefore, this paper introduces an approach for real-time tool localization in laparoscopy surgery using convolutional neural networks. The proposed model, based on two Hourglass modules in series...
Livestock monitoring is a task traditionally carried out through direct observation by experienced caretakers. By analyzing its behavior, it is possible to predict to a certain degree events that require human action, such as calving. However, this continuous monitoring is in many cases not feasible. In this work, we propose, develop and evaluate t...
Background: Prolonged hospitalization in severe COVID-19 cases can lead to substantial muscle loss and functional deterioration. While rehabilitation is essential, conventional approaches face capacity challenges. Therefore, evaluating the effectiveness of robotic-assisted rehabilitation for patients with post-COVID-19 fatigue syndrome to enhance b...
Objetivo: Los asistentes robóticos se están convirtiendo en una herramienta degran ayuda para los cirujanos. En cuanto al procedimiento de sutura, aunque existenvarios dispositivos comerciales que le ayudan al médico a realizarla, todavía no sehan acoplado dichos dispositivos a un robot asistente con el fin de realizar suturasde manera completament...
Physical therapy plays a crucial role in the motor recovery. Rehabilitation robots have emerged as significant advancement, enabling repetitive therapeutic interventions in both clinical and home settings. In this context, the development of a highly functional, reliable, portable, and cost-effective mechatronic systems for wrist and hand rehabilit...
En este proyecto se propone automatizar la sutura en cirugía laparoscópica usando un robot UR3 y un dispositivo electrónico con una pinza para sutura laparoscópica (Endo Stitch). La automatización de la sutura en cirugía mínimamente invasiva es crítica y busca minimizar la fatiga, mejorar la precisión y reducir el tiempo de operación del cirujano....
Real-time hand segmentation is a key process in applications that require human–computer interaction, such as gesture recognition or augmented reality systems. However, the infinite shapes and orientations that hands can adopt, their variability in skin pigmentation and the self-occlusions that continuously appear in images make hand segmentation a...
El Comité Español de Automática (CEA) es una asociación científica sin ánimo de lucro que impulsa el desarrollo, la investigación y las enseñanzasuniversitarias en Automática. Es miembro nacional de la Federación Internacional de Control Automático (IFAC), y celebra anualmente desde el año 1977 las Jornadas de Automática. Estas se organizan por dis...
Introduction: Laparoscopic surgery often relies on a fixed Remote Center of Motion (RCM) for robot mobility control, which assumes that the patient’s abdominal walls are immobile. However, this assumption is inaccurate, especially in collaborative surgical environments. In this paper, we present a force-based strategy for the mobility of a robotic...
Introduction: The RobHand (Robot for Hand Rehabilitation) is a robotic neuromotor rehabilitation exoskeleton that assists in performing flexion and extension movements of the fingers. The present case study assesses changes in manual function and hand muscle strength of four selected stroke patients after completion of an established training progr...
The effectiveness of EMG biofeedback with neurorehabilitation robotic platforms has not been previously addressed. The present work evaluates the influence of an EMG-based visual biofeedback on the user performance when performing EMG-driven bilateral exercises with a robotic hand exoskeleton. Eighteen healthy subjects were asked to perform 1-min r...
Biocooperative control uses both biomechanical and physiological information of the user to achieve a reliable human-robot interaction. In the context of neuromotor rehabilitation, such control can enhance rehabilitation experience and outcomes. However, the high cost and large volume of the commercial systems for physiological signal acquisition a...
Las Jornadas de Automática (JA) son el evento más importante del Comité Español de Automática (CEA), entidad científico-técnica con más de cincuenta años de vida y destinada a la difusión e implantación de la Automática en la sociedad. Este año se celebra la cuadragésima tercera edición de las JA, que constituyen el punto de encuentro de la comunida...
La cirugía endoscópica endonasal transesfenoidal es una técnica mínimamente invasiva utilizada en la actualidad para tratar tumores hipofisarios. A pesar de sus ventajas, la tecnología actual requiere la participación de dos cirujanos que han de trabajar con un grado de precisión muy alto en una zona de tamaño muy reducido y extremadamente delicada...
Cerebrovascular accidents have physical, cognitive and emotional effects. During rehabilitation, the main focus is placed on motor recovery, yet the patient’s emotional state should also be considered. For this reason, validating robotic rehabilitation systems should not only focus on their effectiveness related to the physical recovery but also on...
Medical instruments detection in laparoscopic video has been carried out to increase the autonomy of surgical robots, evaluate skills or index recordings. However, it has not been extended to surgical gauzes. Gauzes can provide valuable information to numerous tasks in the operating room, but the lack of an annotated dataset has hampered its resear...
Background: The development of rehabilitation robotic systems has experienced significant growth in recent years. Electromyography (EMG) is commonly used to drive this kind of robots. Although there are some studies that have assessed the effectiveness of EMG biofeedback in neurorehabilitation, none of them has applied this technique in combination...
La aplicación de la robótica en la medicina se ha incrementado de manera significativa en los últimos años. Sin embargo todavía existen procedimientos de diagnóstico, como la endoscopia, en los que existen limitaciones importantes. Esta técnica tiene todavía un gran margen de mejora siendo de gran interés el avance de sus capacidades de acceso y ma...
La inclusión de un guante quirúrgico inteligente en una cirugía laparoscópica asistida por la mano dentro de un sistema colaborativo robotizado permitiría enviar información sobre la posición que toma la mano del cirujano durante la intervención. Para ello debe poder definirse los movimientos de la mano de forma unívoca. Con dicho guante también se...
The RobHand (Robot for Hand Rehabilitation) platform supports EMG-driven assisted bilateral therapy enabling active-assistive training. The robotic rehabilitation platform incorporates a custom-made EMG embedded solution for real-time gesture recognition whose output is used in the exoskeleton bio-cooperative controller. The recorded EMG signals ar...
In this study, new low-cost neck-mounted sensorized wearable device is presented to help farmers detect the onset of calving in extensive livestock farming by continuously monitoring cow data. The device incorporates three sensors: an inertial measurement unit (IMU), a global navigation satellite system (GNSS) receiver, and a thermometer. The hypot...
Assisted bilateral rehabilitation has been proven to help patients improve their paretic limb ability and promote motor recovery, especially in upper limbs, after suffering a cerebrovascular accident (ACV). Robotic-assisted bilateral rehabilitation based on sEMG-driven control has been previously addressed in other studies to improve hand mobility;...
Se ha demostrado que la rehabilitación bilateral asistida ayuda a los pacientes a mejorar su capacidad del miembro parético y promover su recuperación motora tras sufrir un accidente cerebrovascular (ACV), especialmente en las extremidades superiores. La rehabilitación bilateral asistida por robot, basada en el control por EMG, ha sido abordada ant...
![Fig. 1. Human left hand structure [51].](profile/Javier-Perez-Turiel/publication/352254223/figure/fig1/AS:1044705764732928@1626088672128/Human-left-hand-structure-51_Q320.jpg)
The spread of the use of robotic devices in neuro-rehabilitation therapies requires the availability of lightweight, easy-to-use, cost-effective and versatile systems. RobHand has been designed with these goals in mind. It is a hand exoskeleton especially suitable for patients suffering from spasticity in the fingers since it is easy to place in th...
Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas). In this type of procedure, the surgeon has to complete the surgical maneuvers for sarcoma resection with extreme precision, as there are many vital structures in this area. Therefore, the use of robots for this type of intervention could increase the...
Background and objective:
Inadvertent retained surgical gauzes are an infrequent medical error but can have devastating consequences in the patient health and in the surgeon professional reputation. This problem seems easily preventable implementing standardized protocols for counting but due to human errors it still persists in surgery. The omnip...
Background:
In recent years, a remarkable trend in neurorehabilitation is the combination of conventional methods and emerging technologies, such as robotic platforms with virtual reality (VR), Serious Games (SG) and other types of sophisticated graphic interfaces. The aim of the present study is to evaluate the influence on the user's mental work...
Endonasal Endoscopic Approach (EEA) is a minimally invasive technique for interventions in the skull base in which specific surgical tools and an endoscope are introduced directly through the nose and sinuses. This approach avoids scars in the patients face and reduces the recovering time compared with other techniques. However, it requires experti...
Endoscopic transsphenoidal endonasal surgery is a minimally invasive technique that has numerous advantages by allowing surgeons quick and direct access to certain brain tumors through the nostrils. However, this type of surgery requires the participation of two surgeons who must operate with many space restrictions. This article presents a guidanc...
Depending on their use, electrodes must have a certain size and design so as not to compromise their electrical characteristics. It is fundamental to be aware of all dependences on external factors that vary the electrochemical characteristics of the electrodes. When using implantable electrodes, the maximum charge injection capacity (CIC) is the t...
A control strategy based on the application of the information on intention of movement, obtained through sEMG, to a Direct Force Control algorithm, for the bio-cooperative control of an exoskeleton for hand rehabilitation, is presented. The aim is to implement the assist-as-need paradigm and to provide the appropriate assistance to the patient whi...
Laboratory mice are used in biomedical research as “models” for studying human disease. These mice may be subject to significant levels of stress during transportation that can cause alterations that could negatively affect the results of the performed investigation. Here, we present the design and realization of a prototypical transportation conta...
The design of safe stimulation protocols for functional electrostimulation requires knowledge of the “maximum reversible charge injection capacity” of the implantable microelectrodes. One of the main difficulties encountered in characterizing such microelectrodes is the calculation of the access voltage Va. This paper proposes a method to calculate...
This paper presents a methodology for movement recognition in hand-assisted laparoscopic surgery using a textile-based sensing glove. The aim is to recognize the commands given by the surgeon’s hand inside the patient’s abdominal cavity in order to guide a collaborative robot. The glove, which incorporates piezoresistive sensors, continuously captu...
Hand-assisted laparoscopic surgery is a Minimally Invasive Surgery technique that is based on the insertion of one surgeon’s hand inside the abdominal cavity. In this scenario, a robotic assistant can properly collaborate with the surgeon, working side by side with him/her. This paper presents a robotic system for this kind of technique, based on a...
This paper presents a system developed for the assistance with a collaborative robot in hand-assisted laparoscopic surgery (HALS). The system includes a sensing glove with piezoresistive sensors which capture continuously the flexion degree of the surgeon's fingers. These data are analyzed using an algorithm that detects and recognize the selected...
This paper describes the mechanical design and a cognition system for a novel concept-of-camera robotic assistant. The system combines the advantages of intra-abdominal devices and autonomous camera navigation. The robotic assistant is composed of a magnetic intra-abdominal camera robot with two internal cable-driven degrees of freedom and an exter...
The past thirty years have seen increasingly rapid advances in the field of laparoscopic surgery, in part because of the use of robots. A well-known example is the da Vinci surgical system. However, far too little attention has been paid to Hand Assisted Laparoscopic Surgery (HALS), a surgery in which the surgeon introduces the non-dominant hand in...
This paper examines psycho-physiological measurements in a group of healthy volunteers and the usefulness of this information. The aim is the characterization of the psychophysiological state during the performance of active therapy with the robotic platform, E2REBOT, for upper limb rehabilitation, which we have developed. Psycho-physiological asse...
In this paper we present the results of the first clinical trials conducted to evaluate the usefulness of the joint use of E2Rebot and Gradior to improve cognitive abilities in subjects with ABI, dementia and schizophrenia. E2Rebot is a cost-effective robotic platform for active assistance in the rehabilitation of patients suffering upper limb impa...
![Vector F is the reference with components [dominance, arousal] = [9,9]...](publication/316600763/figure/fig4/AS:11431281247807186@1716942702543/Vector-F-is-the-reference-with-components-dominance-arousal-9-9-and-vector-A-is_Q320.jpg)
In order to harmonize robotic devices with human beings, the robots should be able to perceive important psychosomatic impact triggered by emotional states such as frustration or boredom. This paper presents a new type of biocooperative control architecture, which acts toward improving the challenge/skill relation perceived by the user when interac...
The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human safety, intensive task-oriented therapy, and assistiv...
Animal testing plays a vital role in biomedical research. Stress reduction is important for improving research results and increasing the welfare and the quality of life of laboratory animals. To estimate stress we believe it is of great importance to develop non-invasive techniques for monitoring physiological signals during the transport of labor...
Resumen
En el presente artículo se expone el diseño y validación de dos modelos de Estimulación Eléctrica Neuromuscular (E.E.N.M.) para la relación entre parámetros de estimulación y características biomecánicas, siendo cada uno de ellos representativo de dos enfoques diferentes. Uno de ellos fisiológico simplificado, mientras que el otro es un mod...
In this paper, the most significant aspects of the new robotic platform E2REBOT, for active assistance in rehabilitation work of the upper limbs for people with neuromotor impairment, are presented. Special emphasis is made on the characteristics of their control architecture, designed based on a three level model, one of which implements a haptic...
The aim of energy efficiency is to use less energy to provide the same service. In hospitals, energy efficiency offers a powerful and cost-effective tool to reduce greenhouse gas emissions, fuel consumption, and also running costs. Over a six-month period, the six gas-fired boilers that provide both a hospital's heat and hot water were monitored. A...
This paper is focused in the design and implementation of a robotic surgical motion controller. The proposed control scheme addresses the issues related to the application of a robot assistant in novel surgical scenario, which combines hand assisted laparoscopic surgery (HALS) with the single incision laparoscopic surgery (SILS) techniques. It is d...
Stroke patients tend to suffer from mobility impairments, whether it is in upper or lower limbs this mobility and/or coordination loss translates directly into a decrease in independence and quality of life. Those patients if quickly inserted into neuro-rehabilitation programs, can regain some of the lost capacities they used to have thus improving...
”Human state aware” systems, may be able to improve physical human-robot interaction (pHRI) by adapting their behavior and cooperation level accordingly to human psychophysiological feedback. This paper reviews the impact of the emotions on the motor control performance, and studies the possibility of improving the perceived skill/challenge relatio...
Apodous, modular, hyper-redundant, cylindrical and naturally flexible robotised
device for inspecting pipes, that comprises two steerable and directable heads (1, 1'), at
least two modules (2), all identical to one another, each of said modules (2) being formed by
two adjacent circular rings (3, 3') of rigid material, each of said rings (3, 3') com...
Los robots biocooperativos pueden mejorar las terapias tradicionales de rehabilitación proporcionando al paciente la asistencia adecuada en el instante adecuado. Distintos pacientes necesitan diferentes niveles de asistencia por parte del robot. Por ello, es muy interesante poder analizar el estado del paciente para, a partir de este análisis, dete...
Biocooperative augmented robots can enhance rehabilitation therapies by giving the correct assistance to the patient at the correct time. Since different patients may benefit from different levels of assistance or resistance at a given time, predicting when a person enters in an undesired psychophysiological state can provide an intelligent system...
Biocooperative augmented robots, can enhance rehabilitation therapies by giving the correct assistance at the correct time. Since different patients may benefit from different amounts of assistance or resistance at a given time, predicting when a person enters in an undesired psychophysiological state can provide an intelligent system with importan...
The last advances and researches have shown that intensive task-oriented therapy is highly effective for improving the arm function of individuals after stroke, brain injury or other neurological and motor diseases and injuries. This paper studies different control and trajectory planning techniques used on human machine interaction, in order to ma...
Our work presents the preliminary results obtained in simulations on a developed simple phenomenological model of cardiac
activation circuits. The model has been developed based on the principles of trajectory planning, applying them to the simulation
of arrhythmias. In our model it is possible to reproduce the dynamical evolution from sinus rhythm...
En los sistemas de cirugía ortopédica asistida por ordenador (CAOS), el taladrado del hueso en la reparación de fracturas de huesos largos (para estabilizarlos con placas, clavos o tornillos) es una tarea compleja que el cirujano debe realizar con gran precisión, evitando el calentamiento excesivo del tejido óseo. En la cirugía asistida por robots,...