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Publications

Latest Publications

[1]
J. Davy et al., “Vine Robots with Magnetic Skin for Surgical Navigations,” IEEE Robotics and Automation Letters, Aug. 2024, doi: 10.1109/LRA.2024.3412637.
[1]
P. Lloyd, E. Dall’Armellina, J. E. Schneider, and P. Valdastri, “Future cardiovascular healthcare via magnetic resonance imaging-driven robotics,” European Heart Journal, vol. 45, no. 26, pp. 2271–2272, Jul. 2024, doi: 10.1093/eurheartj/ehae095.
[1]
K. Obstein et al., “the Magnetic Flexible Endoscope: Phase 1 First-in-Human Trial,” Gastrointestinal Endoscopy, vol. 99, no. 6, p. AB581, Jun. 2024, doi: 10.1016/j.gie.2024.04.2659.

Publications on Refereed Journals

[1]
J. Davy et al., "Vine Robots with Magnetic Skin for Surgical Navigations," IEEE Robotics and Automation Letters, Aug. 2024, doi: 10.1109/LRA.2024.3412637.
[1]
P. Lloyd, E. Dall'Armellina, J. E. Schneider, and P. Valdastri, "Future cardiovascular healthcare via magnetic resonance imaging-driven robotics," European Heart Journal, vol. 45, no. 26, pp. 2271–2272, Jul. 2024, doi: 10.1093/eurheartj/ehae095.
[1]
K. Obstein et al., "the Magnetic Flexible Endoscope: Phase 1 First-in-Human Trial," Gastrointestinal Endoscopy, vol. 99, no. 6, p. AB581, Jun. 2024, doi: 10.1016/j.gie.2024.04.2659.
[1]
S. Taccola and E. al, "Dual-Material Aerosol Jet Printing of Magneto-Responsive Polymers with In-Process Tailorable Composition for Small-Scale Soft Robotics," [Manuscript submitted for publication], p. 2400463, Jun. 2024, doi: 10.1002/ADMT.202400463.
[1]
G. Loza, P. Valdastri, and S. Ali, "Real-time surgical tool detection with multi-scale positional encoding and contrastive learning," Healthcare Technology Letters, vol. 11, no. 2–3, pp. 48–58, Apr. 2024, doi: 10.1049/htl2.12060.
[1]
C. A. Landewee et al., "Magnetic flexible endoscope: a novel platform for diagnostic and therapeutic colonoscopy," iGIE, vol. 3, no. 1, pp. 1–4, Mar. 2024, doi: 10.1016/j.igie.2023.11.011.
[1]
D. Chathuranga, P. Lloyd, J. H. Chandler, R. A. Harris, and P. Valdastri, "Assisted Magnetic Soft Continuum Robot Navigation via Rotating Magnetic Fields," IEEE Robotics and Automation Letters, vol. 9, no. 1, pp. 183–190, Jan. 2024, doi: 10.1109/LRA.2023.3331292.
[1]
J. Hu, D. Jones, M. R. Dogar, and P. Valdastri, "Occlusion-Robust Autonomous Robotic Manipulation of Human Soft Tissues With 3-D Surface Feedback," IEEE Transactions on Robotics, vol. 40, pp. 624–638, 2024, doi: 10.1109/TRO.2023.3335693.
[1]
Z. Koszowska et al., "Independently Actuated Soft Magnetic Manipulators for Bimanual Operations in Confined Anatomical Cavities," Advanced Intelligent Systems, vol. 6, no. 2, p. 2300062, 2024, doi: 10.1002/aisy.202300062.
[1]
P. Karipoth et al., "Aerosol Jet Printing of Strain Sensors for Soft Robotics," Advanced Engineering Materials, vol. 26, no. 1, 2024, doi: 10.1002/adem.202301275.
[1]
N. Murasovs et al., "Breathing Compensation in Magnetic Robotic Bronchoscopy via Shape Forming," IEEE Robotics and Automation Letters, pp. 1–8, 2024, doi: 10.1109/LRA.2024.3426385.
[1]
G. Pittiglio et al., "Personalized magnetic tentacles for targeted photothermal cancer therapy in peripheral lungs," Communications Engineering, vol. 2, no. 1, Jul. 2023, doi: 10.1038/s44172-023-00098-9.
[1]
G. Pittiglio et al., "Closed Loop Static Control of Multi-Magnet Soft Continuum Robots," IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 3980–3987, Jul. 2023, doi: 10.1109/LRA.2023.3274431.
[1]
J. Davy, P. Lloyd, J. H. Chandler, and P. Valdastri, "A Framework for Simulation of Magnetic Soft Robots Using the Material Point Method," IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3470–3477, Jun. 2023, doi: 10.1109/LRA.2023.3268016.
[1]
T. Da Veiga, G. Pittiglio, M. Brockdorff, J. H. Chandler, and P. Valdastri, "Six-Degree-of-Freedom Localization under Multiple Permanent Magnets Actuation," IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3422–3429, Jun. 2023, doi: 10.1109/LRA.2023.3268588.
[1]
P. Lloyd et al., "A Magnetically-Actuated Coiling Soft Robot With Variable Stiffness," IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3262–3269, Jun. 2023, doi: 10.1109/LRA.2023.3264770.
[1]
G. Pittiglio, M. Brockdorff, T. Da Veiga, J. Davy, J. H. Chandler, and P. Valdastri, "Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets," IEEE Transactions on Robotics, vol. 39, no. 2, pp. 1407–1418, Apr. 2023, doi: 10.1109/TRO.2022.3209038.
[1]
L. Li et al., "Robust endoscopic image mosaicking via fusion of multimodal estimation," Medical Image Analysis, vol. 84, p. 102709, Feb. 2023, doi: 10.1016/j.media.2022.102709.
[1]
K. Abolfathi et al., "Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots," IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 4235–4242, 2023, doi: 10.1109/LRA.2023.3280749.
[1]
J. Davy, T. Da Veiga, G. Pittiglio, J. H. Chandler, and P. Valdastri, "Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study," in 2023 International Symposium on Medical Robotics, ISMR 2023, Atlanta, GA, USA, 2023. doi: 10.1109/ISMR57123.2023.10130246.
[1]
G. Pittiglio et al., "Patient-Specific Magnetic Catheters for Atraumatic Autonomous Endoscopy," Soft Robotics, vol. 9, no. 6, pp. 1120–1133, Dec. 2022, doi: 10.1089/soro.2021.0090.
[1]
A. Bacchetti et al., "Optimization and fabrication of programmable domains for soft magnetic robots: A review," Frontiers in Robotics and AI, vol. 9, Nov. 2022, doi: 10.3389/frobt.2022.1040984.
[1]
P. Lloyd, O. Onaizah, G. Pittiglio, D. K. Vithanage, J. H. Chandler, and P. Valdastri, "Magnetic Soft Continuum Robots With Braided Reinforcement," IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9770–9777, Oct. 2022, doi: 10.1109/LRA.2022.3191552.
[1]
N. Marahrens, B. Scaglioni, D. Jones, R. Prasad, C. S. Biyani, and P. Valdastri, "Towards Autonomous Robotic Minimally Invasive Ultrasound Scanning and Vessel Reconstruction on Non-Planar Surfaces," Frontiers in Robotics and AI, vol. 9, Oct. 2022, doi: 10.3389/frobt.2022.940062.
[1]
S. Taccola, T. da Veiga, J. H. Chandler, O. Cespedes, P. Valdastri, and R. A. Harris, "Micro-scale aerosol jet printing of superparamagnetic Fe3O4 nanoparticle patterns," Scientific Reports, vol. 12, no. 1, p. 17931, Oct. 2022, doi: 10.1038/s41598-022-22312-y.
[1]
C. Winters, V. Subramanian, and P. Valdastri, "Robotic, self-propelled, self-steerable, and disposable colonoscopes: Reality or pipe dream? A state of the art review," World Journal of Gastroenterology, vol. 28, no. 35, pp. 5093–5110, Sep. 2022, doi: 10.3748/wjg.v28.i35.5093.
[1]
J. W. Martin et al., "Robotic Autonomy for Magnetic Endoscope Biopsy," IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 3, pp. 599–607, Aug. 2022, doi: 10.1109/TMRB.2022.3187028.
[1]
L. Barducci, B. Scaglioni, J. Martin, K. L. Obstein, and P. Valdastri, "Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope," Frontiers in Robotics and AI, vol. 9, Apr. 2022, doi: 10.3389/frobt.2022.854081.
[1]
M. Di Lecce, O. Onaizah, P. Lloyd, J. H. Chandler, and P. Valdastri, "Evolutionary Inverse Material Identification: Bespoke Characterization of Soft Materials Using a Metaheuristic Algorithm," in Frontiers in Robotics and AI, vol. 8, 2022. doi: 10.3389/frobt.2021.790571.
[1]
O. F. Ahmad et al., "Establishing key research questions for the implementation of artificial intelligence in colonoscopy: A modified Delphi method," Endoscopy, vol. 53, no. 9, pp. 893–901, Sep. 2021, doi: 10.1055/a-1306-7590.
[1]
A. Attanasio, B. Scaglioni, E. De Momi, P. Fiorini, and P. Valdastri, "Autonomy in Surgical Robotics," Annual Review of Control, Robotics, and Autonomous Systems, vol. 4, no. 1, pp. 651–679, May 2021, doi: 10.1146/annurev-control-062420-090543.
[1]
A. Attanasio et al., "A Comparative Study of Spatio-Temporal U-Nets for Tissue Segmentation in Surgical Robotics," IEEE Transactions on Medical Robotics and Bionics, vol. 3, no. 1, pp. 53–63, Feb. 2021, doi: 10.1109/TMRB.2021.3054326.
[1]
C. Bergeles, A. Cruz Ruiz, F. Rodriguez Y Baena, and P. Valdastri, "Surgical robotics: towards measurable patient benefits and widespread adoption," EPSRC UK-RAS Network White Paper, vol. 16, pp. 1–17, 2021, doi: 10.31256/WP2021.2.
[1]
F. Campisano et al., "Closed-loop control of soft continuum manipulators under tip follower actuation," International Journal of Robotics Research, vol. 40, no. 6–7, pp. 923–938, 2021, doi: 10.1177/0278364921997167.
[1]
M. Chauhan, J. H. Chandler, A. Jha, V. Subramaniam, K. L. Obstein, and P. Valdastri, "An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications," Frontiers in Robotics and AI, vol. 8, 2021, doi: 10.3389/frobt.2021.664720.
[1]
C. D'Ettorre et al., "Accelerating Surgical Robotics Research: A Review of 10 Years with the da Vinci Research Kit," IEEE Robotics and Automation Magazine, vol. 28, no. 4, pp. 56–78, 2021, doi: 10.1109/MRA.2021.3101646.
[1]
P. E. Dupont et al., "A decade retrospective of medical robotics research from 2010 to 2020," Science Robotics, vol. 6, no. 60, 2021, doi: 10.1126/scirobotics.abi8017.
[1]
J. Liu, L. Yin, J. H. Chandler, X. Chen, P. Valdastri, and S. Zuo, "A dual-bending endoscope with shape-lockable hydraulic actuation and water-jet propulsion for gastrointestinal tract screening," International Journal of Medical Robotics and Computer Assisted Surgery, vol. 17, no. 1, pp. 1–13, 2021, doi: 10.1002/rcs.2197.
[1]
A. P. Mamunes et al., "Magnetic flexible endoscope for colonoscopy: an initial learning curve analysis," Endoscopy International Open, vol. 09, no. 02, pp. E171–E180, 2021, doi: 10.1055/a-1314-9860.
[1]
J. Haidar Ahmad, A. El-Asmar, R. Abi Zeid Daou, A. Hayek, and J. Boercsoek, "Design and Implementation of an Instrumented walking cane for Detection of Freezing of Gait," in 2021 IEEE 3rd International Multidisciplinary Conference on Engineering Technology, IMCET 2021, Seattle, WA, USA, 2021, pp. 125–129. doi: 10.1109/IMCET53404.2021.9665625.
[1]
P. Lloyd, Z. Koszowska, M. Di Lecce, O. Onaizah, J. H. Chandler, and P. Valdastri, "Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots," Frontiers in Robotics and AI, vol. 8, 2021, doi: 10.3389/frobt.2021.715662.
[1]
O. Onaizah et al., "Guidelines for Robotic Flexible Endoscopy at the Time of COVID-19." 2021. doi: 10.3389/frobt.2021.612852.
[1]
G. Pittiglio, S. Calo, and P. Valdastri, "On the Observability and Observer Design on the Special Orthogonal Group Based on Partial Inertial Sensing," IEEE Transactions on Automatic Control, vol. 66, no. 10, pp. 4998–5005, 2021, doi: 10.1109/TAC.2020.3047553.
[1]
L. Barducci et al., "Fundamentals of the gut for capsule engineers," Progress in Biomedical Engineering, vol. 2, no. 4, p. 42002, 2020, doi: 10.1088/2516-1091/abab4c.
[1]
S. Calo, J. H. Chandler, F. Campisano, K. L. Obstein, and P. Valdastri, "A Compression Valve for Sanitary Control of Fluid-Driven Actuators," IEEE/ASME Transactions on Mechatronics, vol. 25, no. 2, pp. 1005–1015, 2020, doi: 10.1109/TMECH.2019.2960308.
[1]
J. H. Chandler, M. Chauhan, N. Garbin, K. L. Obstein, and P. Valdastri, "Parallel Helix Actuators for Soft Robotic Applications," Frontiers in Robotics and AI, vol. 7, 2020, doi: 10.3389/frobt.2020.00119.
[1]
T. Da Veiga et al., "Challenges of continuum robots in clinical context: A review," Progress in Biomedical Engineering, vol. 2, no. 3, 2020, doi: 10.1088/2516-1091/ab9f41.
[1]
A. Attanasio et al., "Autonomous Tissue Retraction in Robotic Assisted Minimally Invasive Surgery - A Feasibility Study," IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6528–6535, 2020, doi: 10.1109/LRA.2020.3013914.
[1]
J. H. Chandler et al., "Tu1964 USABILITY OF A NOVEL DISPOSABLE ENDOSCOPE FOR GASTRIC CANCER SCREENING IN LOW-RESOURCE SETTINGS: RESULTS FROM RURAL INDIA," Gastroenterology, vol. 158, no. 6, p. S-1235, 2020, doi: 10.1016/s0016-5085(20)33749-5.
[1]
P. Lloyd et al., "A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots," IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 3937–3944, 2020, doi: 10.1109/LRA.2020.2983704.

SELECTED CONFERENCE PUBLICATIONS​

F. Leong, A. Mohammadi, Y. Tan, D. Thiruchelvam, P. Valdastri, D. Oetomo, “Magnetic Interactions of Neighbouring Stator Sets in Multi DOF Local Electromagnetic Actuation for Robotic Abdominal Surgery“, Proceedings – IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5723-5729, 2017.

F. Campisano, S. Ozel, A. Ramakrishnan, A. Dwivedi, N. Gkotsis, C. D. Onal, P. Valdastri, “Towards a soft robotic skin for autonomous tissue palpation”, Proceedings – IEEE International Conference on Robotics and Automation, pp. 6150-6155, 2017.

N. Garbin, S. Sarker, D. C. Sohn, P. R. Slawinski, P. Valdastri, K. L. Obstein, “Evaluation of a Novel Disposable Upper Endoscope for Unsedated Bedside (Non-Endoscopy Unit Based) Assessment of the Upper Gastrointestinal (UGI) Tract”, Gastrointestinal Endoscopy, pp. AB304-AB304, 2017.

S. Sarker, P. R. Slawinski, A. Z. Taddese, K. B. Musto, P. Valdastri, K. L. Obstein, “The First Autonomously Controlled Capsule Robot for Colon Exploration”, Gastrointestinal Endoscopy, pp. AB496-AB496, 2017.

P. R. Slawinski, C. T. Garcia, A. Z. Taddese, K. L. Obstein, P. Valdastri, “Towards Recovering a Lost Degree of Freedom in Magnet-Driven Robotic Capsule Endoscopy”, ASME Design of Medical Devices Conference, April 2017, Minneapolis, Minnesota

A. Taddese, P. Slawinski, K. L. Obstein, P. Valdastri, “Nonholonomic Closed-loop Velocity Control of a Soft-tethered Magnetic Endoscope”, in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, October 9-14, 2016.

A. Taddese, P. Slawinski, K. L. Obstein, P. Valdastri, “Closed Loop Control of a Tethered Magnetic Capsule Endoscope”, Robotic Science and Systems 2016, Ann Arbor, MI, USA.

A. Taddese, M. Beccani, E. Susilo, P. Volgyesi, A. Ledeczi, P. Valdastri, “Toward Rapid Prototyping of Miniature Capsule Robots”, IEEE International Conference on Robotics and Automation (ICRA) 2015, Seattle, WA, USA, pp. 4704-4709.

J. Wade, M. Beccani, A. Myszka, E. T. Bekele, P. Valdastri, P. Flemming, T. Withrow, N. Sarkar, “Design and Implementation of an Instrumented Cane for Gait Recognition”, IEEE International Conference on Robotics and Automation (ICRA) 2015, Seattle, WA, USA, pp. 5904-5909.

C. S. Bell, G. Puerto, G. Mariottini, P. Valdastri, “Six DOF Pose Estimation for Teleoperated Flexible Endoscopes Using Optical Flow: A Comparative Study”, IEEE International Conference on Robotics and Automation (ICRA) 2014, Hong Kong, China, pp. 5386-5392.

X. Wang, C. Di Natali, M. Beccani, M. Kern, P. Valdastri, M. Rentschler, “Novel Medical Wired Palpation Device: A Device Validation Study Of Material Properties”, Transducers 2013, Barcelona, Spain, pp. 1653-1658.

M. Beccani, C. Di Natali, M. E. Rentschler, P. Valdastri, “Wireless Tissue Palpation: Proof of Concept for a Single Degree of Freedom”, IEEE International Conference on Robotics and Automation (ICRA) 2013, Karlsruhe, Germany, pp. 703-709.

M. Beccani, C. Di Natali, M. Rentschler, P. Valdastri, “Uniaxial Wireless Tissue Palpation Device for Minimally Invasive Surgery”, ASME Design of Medical Devices Conference, April 2013, Minneapolis, Minnesota, ASME Journal of Medical Devices, Vol. 7, N. 2, 020919 (3 pp).

C. Di Natali, P. Valdastri “Remote active magnetic actuation for a single-access surgical robotic manipulator”, in Proc. of the XVI Annual Conference of the International Society for Computer Aided Surgery (ISCAS) 2012, Pisa, Italy, June 2012, International Journal of Computer Assisted Radiology and Surgery, 2012, Vol. 7, Suppl. 1, pp. S169-S170.

C. Di Natali, T. Ranzani, M. Simi, A. Menciassi, P. Valdastri “Trans-abdominal Active Magnetic Linkage for Robotic Surgery: Concept Definition and Model Assessment”, in Proc. of IEEE International Conference on Robotics and Automation (ICRA) 2012, St Paul, MN, USA, May 2012, pp. 695-700.

M. Simi, G. Gerboni, A. Menciassi, P. Valdastri, “Magnetic Mechanism for Wireless Capsule Biopsy”, in Proc. of ASME Design of Medical Devices Conference, April 10-12, 2012, Minneapolis, MN, ASME Journal of Medical Devices, Vol. 6, p. 017611-1.

T. Ranzani, C. Di Natali, M. Simi, A. Menciassi, P. Dario, P. Valdastri, “A Novel Surgical Robotic Platform Minimizing Access Trauma”, in Proc. of 4th Hamlyn Symposium on Medical Robotics, London, UK, June 2011, pp. 15-16.

P. Valdastri, G. Ciuti, A. Verbeni, A. Menciassi, P. Dario, A. Arezzo, M. Morino, “Magnetic air capsule robotic system: a novel approach for painless colonoscopy”, 19th International Congress of the European Association of Endoscopic Surgery (EAES) in Turin, Italy.

M. Simi, G. Sardi, P. Valdastri, A. Menciassi, P. Dario, “Magnetic Levitation Camera Robot for Endoscopic Surgery”, in Proc. of IEEE International Conference on Robotics and Automation (ICRA) 2011, Shanghai, China, May 2011, pp. 5279-5284.

O. Alonso, J. Canals, L. Freixas, J. Samitier, A. Dieguez, M. Vatteroni, E. Susilo, C. Cavallotti, P. Valdastri, “Enabling multiple robotic functions in an endoscopic capsule for the entire gastrointestinal tract exploration”, in Proc. ESSCIRC, 2010, pp. 386-389.

J. L. Toennies, G. Ciuti, B. F. Smith, A. Menciassi, P. Valdastri, and Robert J. Webster III, “Toward Tetherless Insufflation of the GI Tract”, in Proc. IEEE Engineering in Medicine and Biology Society Conference (EMBC) 2010, Buenos Aires, Argentina, September 2010, pp. 1946-1949.

G. Tortora, S. Caccavaro, P. Valdastri, A. Menciassi, P. Dario, “Design of an autonomous jellyfish miniature robot based on a novel concept of magnetic actuation”, in Proc. of IEEE International Conference on Robotics and Automation (ICRA) 2010, Anchorage, AK, USA, May 2010, pp. 1592-1597.

L. S. Chiang, P. S. Jay, P. Valdastri, A. Menciassi, P. Dario, “Tendon Sheath Analysis for Prediction of Distal End Force and Elongation”, in Proc. IEEE/ASME Conference on Advanced Intelligent Mechatronics 2009, Singapore, July 2009, pp. 332-337.

O. Tonet, M. Marinelli, G. Megali, A. Sieber, P. Valdastri, A. Menciassi, P. Dario, “Control of a teleoperated nanomanipulator with time delay under direct vision feedback”, in Proc. of IEEE International Conference on Robotics and Automation (ICRA) 2007, Rome, Italy, April 2007, pp. 3514-3519.

Book Chapters

V. N. Valentine, P. Valdastri, “Capsule robots for endoscopy”, AccessScience/McGraw-Hill Yearbook of Science & Technology 2014.

J. L. Toennies, R. J. Webster III, P. Valdastri, “Mesoscale Mobile Robots for Gastrointestinal Minimally Invasive Surgery (MIS)”, Chapter 10, pp. 224-251, in “Medical Robotics – Minimally Invasive Surgery” edited by Paula Gomes, Woodhead Publishing Series in Biomaterials: Number 51, ISBN 0-85709-130-1.

A. Menciassi, P. Valdastri, K. Harada, P. Dario, “Single and Multiple Robotic Capsules for Endoluminal Diagnosis and Surgery”, Chapter 14, pp. 313-354, in “Surgical Robotics – System Applications and Visions”, edited by J. Rosen, B. Hannaford, R. Satava, published by Springer, 1st Edition, 2011, XXII, 819 p. 365 illus, Hardcover, ISBN: 978-1-4419-1125-4.

Our research spans several fields of surgical robotics, take a look at our latest projects