Miguel Padilla

Miguel Padilla
Scuola Superiore Sant'Anna | SSSUP

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24
Publications
1,858
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250
Citations

Publications

Publications (24)
Conference Paper
The study of diseases that affect the mobility of patients requires precise measurements that provide information that allows the specialist to classify the progress and severity of the disease. In the case of the evaluation of ankylosing spondylitis the Schober’s test or modified Schober’s test is commonly used to evaluate the subject. The test is...
Article
This article presents the application of a new multi-objective evolutionary algorithm called RankMOEA to determine the optimal parameters of an artificial potential field for autonomous navigation of a mobile robot. Autonomous robot navigation is posed as a multi-objective optimization problem with three objectives: minimization of the distance to...
Article
Body awareness has important implications for the use of Virtual Reality (VR) and its effectiveness. This involves the senses of agency and body ownership. The possibility of producing the Rubber Hand Illusion (RHI) in VE (the sense of feeling a fake virtual body part seems like the one¿s own part), has been proven in the past, by giving the user s...
Conference Paper
Body awareness has important implications for the use of virtual reality (VR) and its effectiveness. This involves the senses of agency and body ownership, studied in the past by producing the “Rubber Hand Illusion” (RHI). Recent studies reported the RHI on virtual environments (VE) by giving the participant synchronous 3D visual stimulation and pa...
Article
Active shape models (ASMs) are an effective boundary segmentation technique currently applied to a variety of image analysis problems, they are fast and accurate if the initial model pose and shape are close enough to the object boundary. An ASM consists essentially of a statistical shape model (point distribution model (PDM)), and a local search m...
Conference Paper
Full-text available
Fixed-Base Exoskeleton applications have increased rapidly in the last few years, evidently as part of promising rehabilitation robotic programs of the robotics worldwide community, where in particular Human-Robot-Interaction (HRI) plays an important role in its design and control because they are tightly coupled to human-limbs. Exoskeletons embrac...
Conference Paper
This contribution discusses the advanced technologies integration: the PERCRO light-exoskeleton and the PERCRO data-glove wherein the main pursuit is the enhancement of the human grasping skills inside virtual environments. The mastering of motor human skills for taking up, lifting or manipulating objects during grasping tasks, could be effectively...
Conference Paper
In this work we present the current state of development of a virtual reality surgery simulation system for training Transurethral Resection of the Prostate (TURP). The prototype consist on a virtual environment of part of the urinary system which includes 3D models of the bladder, the prostate and the pennile urethra. The system simulates in real-...
Article
The goal of the present work is to obtain images combining in a useful and precise way the information present in 3D volumes of medical imaging sets. We address two modalities combining anatomy (Magnetic Resonance Imaging or MRI) and functional information (Positron Emission Tomography or PET). Commercial imaging software often offers image fusion...
Article
In this work is presented the development of a mechatronic interface for a surgery simulation system for training Transurethral Resection of the Prostate (TURP). The interface emulates a real resectosope and allows to perform the most important movements of the surgical tool during a TURP. The interface is able to work in conjunction with a virtual...
Article
We present the first results of four projects of a second phase of a Mexican Project Computer Assisted Surgery and Medical Robotics, supported by the Mexican Science and Technology National Council (Consejo Nacional de Ciencia y Tecnología) under grant SALUD-2002-C01-8181. The projects are being developed by three universities (UNAM, UAM, ITESM) an...
Article
We report the current development of a new computer assisted system for local and remote training of transurethral resection of the prostate (TURP). The system is based on a 3D computer model of the prostate gland, which simulates deformations and resections of prostatic tissue. Simulated resections of the prostate can be repeatedly performed by th...
Article
In this work is presented the development of a mechatronics device to simulate the interaction of the surgeon with the surgical instrument (resectoscope) used during a Transurethral Resection of the Prostate (TURP). Our mechatronics interface is part of a computer assisted system for training in TURP, which is based on a 3D graphics model of the pr...
Article
Our goal is to obtain images combining in a useful and precise way the information from 3D volumes of medical imaging sets. We address two modalities combining anatomy (Magnetic Resonance Imaging or MRI) and functional information (Positron Emission Tomography or PET). Commercial imaging software offers image fusion tools based on fixed blending...
Article
Full-text available
An automatic colour image segmentation and cell counting software system has been developed for immunocytochemical analysis of stained tissue samples. The system was designed to count the total number of positive and negative cells in tissue samples treated with cytokine DNA probes from pigs naturally parasitised with Taenia solium metacestodes, us...
Conference Paper
The virtual 3D models of human organs in surgery simulation must reproduce the complex viscoelastic deformable behavior of living soft tissue during interaction with virtual surgical tools. Collision detection is a crucial task for modelling and real-time simulation of surgical interactions. Few techniques for collision detection between moving bod...
Article
In this paper is presented a new scheme for autonomous navigation of a mobile robot, based on improved artificial potential fields and a genetic algorithm. In conventional artificial potential field methods, the robot is attracted by the goal position only, and rejected by several obstacles. Use of a single attraction point can lead to trap situati...
Article
During a prostatectomy, a surgeon removes the inner prostate tissue that obstructs the urinary flow. The standard procedure, called transurethral resection of the prostate (TURP), is a minimally invasive surgery in which a resectoscope is introduced through the urethra of the patient to remove the obstructing tissue. In this paper, we present a thr...
Conference Paper
In this paper we present a computer model of the prostate for prostatectomy simulation. Through the modification of the 3D mesh, the model is able to simulate resections of soft tissue produced by the user with a virtual resectoscope. At each resection the model shows deformations of the tissue surrounding the resection zone. A mass-spring 3D mesh...
Conference Paper
In this work is described the development of an automatic color image segmentation and cell counting system for immunocytochemical analysis of stained tissue samples. The system is designed to automatically count the total number of positive and negative cells in tissue samples treated with cytokines DNA probes of pigs naturally parasitized with Ta...
Conference Paper
During a transurethral resection of the prostate (TURP), a surgeon removes the inner prostate tissue that obstructs the urinary flow. In this minimally invasive procedure, the novice surgeons must perform hundreds of training sessions before acquiring the skills needed. In this paper we present a three-dimensional (3D) computer model of the prostat...
Article
Computer assisted surgery (CAS) systems can provide different levels of assistance to a surgeon during training and execution of a surgical procedure. This is done through the integration of : measurements taken on medical images; computer graphics techniques; and positioning or tracking mechanisms which accurately locate the surgical instruments i...
Conference Paper
We present a three-dimensional anatomical and deformable model of the prostate for prostatectomy simulation. The model was build from a set of ultrasound images with the prostate contour, automatically annotated, with a technique based on a genetic algorithm and principal components analysis. The model simulates resection operations and local tissu...
Article
Full-text available
In this paper is presented a navigation scheme, based on a genetic algorithm, for autonomous robot navigation. Potential fields are used to attract the robot by the goal position and reject it by the obstacles. In the scheme presented here obstacles are automatically detected by simulated sonar sensors. The configuration of the optimum potential fi...

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