Publications

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, 2021.

P. Lloyd, Z. Koszowska, M. Di Lecce, O. Onaizah, J. Chandler and P. Valdastri, “Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots” Frontiers In Robotics And AI, 2021.

M. Chauhan, J. Chandler, A. Jha, V. Subramaniam, K. Obstein and P. Valdastri, “An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications”, Frontiers In Robotics And AI, 2021

A. Attanasio, B. Scaglioni, E. De Momi, P. Fiorini and P. Valdastri, “Autonomy in Surgical Robotics”, Annual Review Of Control, Robotics, And Autonomous Systems, 2021 

F. Campisano, S. Calo, A. A. Remirez, J. H. Chandler, K. L . Obstein, R. J. Webester III, P. Valdastri “Closed-loop control of soft continuum manipulators under tip follower actuation” The International Journal of Robotics Research, 2021.

O. Onaizah, Z. Koszowska, C. Winters, V. Subramanian, D. Jayne, A.Arezzo, K. L. Obstein, P. Valdastri. “Guidelines for Robotic Flexible Endoscopy at the Time of COVID-19” Frontiers in Robotics and AI, 2021.

A. Mamunes, F. Campisano, J. Martin, B. Scaglioni, E. Mazomenos, P. Valdastri and K. Obstein, “Magnetic flexible endoscope for colonoscopy: an initial learning curve analysis” Endoscopy International Open 09, 2021.

A. Attanasio, C. Alberti, B. Scaglioni, N. Marahrens, A. Frangi, M. Leonetti, C. Biyani, E. De MomI, P. Valdastri, “A Comparative Study of Spatio-Temporal U-Nets for Tissue Segmentation in Surgical Robotics,” IEEE Transactions on Medical Robotics and Bionics, 2021

G. Pittiglio, S. Calò, P. Valdastri, “On the Observability and Observer Design on the Special Orthogonal Group Based on Partial Inertial Sensing”, IEEE Transactions on Automatic Control, 2021

O. F. Ahmad, Y. Mori, M. Misawa, S. Kudo, J. T. Anderson, J. Bernal, T. M. Berzin, R. Bisschops, M. F. Byrne, P. Chen, J. East, T. Eelbode, D. S. Elson, S. Gurudu, A. Histace, W. E. Karnes, A. Repici, R. Singh, P. Valdastri, M. B. Wallace, P. Wang, D. Stoyanov, L. B. Lovat, “Establishing key research questions for the implementation of artificial intelligence in colonoscopy – a modified Delphi method”, Endoscopy, 2020.

J. Liu, L. Yin, J. H. Chandler, X. Chen, P. Valdastri, 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, 2020

J. Martin, B. Scaglioni, J. Norton, V. Subramanian, A. Arezzo, K. Obstein and P. Valdastri, “Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation“. Nature Machine Intelligence , 2020. 

 J. Chandler, M. Chauhan, N. Garbin, K. Obstein and P. Valdastri, “Parallel Helix Actuators for Soft Robotic Applications”, Frontiers In Robotics And AI 7, 2020.

L. Barducci, J. C. Norton, S. Sarker, S. Mohammed, R. Jones, P. Valdastri, B.S. Terry ^“Fundamentals of the gut for capsule engineers” Progress in Biomedical Engineering, Vol 2, No 4.

T. da Veiga, J. Chandler, P. Lloyd, G. Pittiglio, N. Wilkinson, A. Hoshiar, R. Harris, P. Valdastri, “Challenges of continuum robots in clinical context: a review“, Progress in Biomedical Engineering, 2020.

A. Attanasio, B. Scaglioni, M. Leonetti,  et al.  Autonomous Tissue Retraction in Robotic Assisted Minimally Invasive Surgery – A Feasibility Study. IEEE Robotics and Automation Letters, 

A. Attanasio, B. Scaglioni, E. D. Momi, P. Fiorini, P. Valdastri. “Autonomy in Surgical Robotics.” Annual Review of Control, Robotics and Autonomous Systems, 2021

P. R. Lloyd, A. K. Hoshiar, T. da Veiga, A. Attanasio, N. Marahrens, J. H. Chandler, P. Valdastri, “A learnt approach for the design of magnetically actuated shape forming soft tentacle robots”, IEEE Robotics and Automation Letters, 2020, Vol. 5, No. 3, pp. 3937-3944.

J. C. Norton, P.R. Slawinski. H. S. Lay, J.W. Martin, B.F. Cox, G. Cummins, M. P.Y. Desumlliez, R. E. Clutton, K. L. Obstein, S. Cochran, P. Valdastri “Intelligent magnetic manipulation for gastrointestinal ultrasound“, Science Robotics  19 Jun 2019:Vol. 4, Issue 31

Calò S, Chandler H J, Campisano F, K L. Obstein, Valdastri P. “A Compression Valve for Sanitary Control of Fluid Driven Actuators,” in IEEE/ASME Transactions on Mechatronics, 2020, Vol. 25, No. 2, 1005-1015.

JH Chandler, M Chauhan, S Caló, N Aruparayil, N Garbin, F Campisano, KL Obstein, P Valdastri. “Tu1964 Usability of a Novel Disposable Endoscope for Gastric Cancer Screening in Low-Resource Settings: Results from Rural India“. Gastroenterology vol. 158 no. 6, S-1235, 2020

L. Barducci, G. Pittiglio, J. C. Norton, K. L. Obstein and P. Valdastri “Adaptive Dynamic Control for Magnetically Actuated Medical Robots,” in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3633-3640, Oct. 2019.

B. Scaglioni, L. Previtera, J. W. Martin, J. C. Norton,  K. L. Obstein, P. Valdastri, “Explicit Model Predictive Control of a Magnetic Flexible Endoscope” IEEE Robotics and Automation Letters, 4 (2). pp. 716-723.

G. Pittiglio, L. Barducci, J. W. Martin, J. C. Norton, C. Avizzano, K. L. Obstein, P. Valdastri, “Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach,” in IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1224-1231, April 2019.

N. Garbin, L. Wang, J. H. Chandler, K. L. Obstein, N. Simaan, P. Valdastri, “Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy”, IEEE Transactions on Biomedical Engineering, 2018, in press.

B. Scaglioni, N. Fornarelli, N. Garbin, A. Menciassi, P. Valdastri, “Independent Control of Multiple Degrees of Freedom Local Magnetic Actuators with Magnetic Cross-coupling Compensation”, IEEE Robotics and Automation Letters, 2018, Vol. 3, No. 4, pp. 3622-3629.

A. Taddese, P. Slawinski, M. Pirotta, E. De Momi, K. L. Obstein, P. Valdastri, “Enhanced Real-Time Pose Estimation for Closed-Loop Robotic Manipulation of Magnetically Actuated Capsule Endoscopes”, International Journal of Robotics Research, 2018, Vol. 37, No. 8, pp. 890-911.

P. Slawinski, A. Taddese, K. B. Musto, S. Sarker, P. Valdastri, K. L. Obstein, “Autonomously controlled magnetic flexible endoscope for colon exploration”, Gastroenterology, 2018, Vol. 154, No. 6, pp. 1577-1579.

F. Leong, A. Mohammadi, Y. Tan, D. Thiruchelvam, C. Y. Lai, P. Valdastri, D. Oetomo, “Disturbance Rejection in Multi-DOF Local Magnetic Actuation for Robotic Abdominal Surgery”, IEEE Robotics and Automation Letters, 3 (3), pp. 1568-1575, 2018.

A. Mohammadi, D. Samsonas, F. Leong, Y. Tan, D. Thiruchelvam, P. Valdastri, D. Oetomo, “Modeling and Control of Local Electromagnetic Actuation for Robotic-Assisted Surgical Devices”, IEEE/ASME Transactions on Mechatronics, 22 (6), pp. 2449-2460, 2017.

P.R. Slawinski, A. Taddese, K. Musto, K. Obstein, P. Valdastri, “Autonomous Retroflexion of a Magnetic Flexible Endoscope”, IEEE Robotics and Automation Letters, 2 (3), pp. 1352-1359, 2017.

F. Campisano, F. Gramuglia, I.R. Dawson, C.T. Lyne, M.L. Izmaylov, S. Misra, E. De Momi, D.R. Morgan, K.L. Obstein, P. Valdastri, “Gastric Cancer Screening in Low-Income Countries: System Design, Fabrication, and Analysis for an Ultralow-Cost Endoscopy Procedure.”, IEEE Robotics & Automation Magazine, 24 (2), pp. 73-81, 2017.

C.J. Laborde, C.S. Bell, J.C. Slaughter, P. Valdastri, K.L. Obstein, “Evaluation of a novel tablet application for improvement in colonoscopy training and mentoring (with video)”, Gastrointestinal Endoscopy, 85 (3), pp. 559-565.e1, 2017.

N. Di Lorenzo, L. Cenci, M. Simi, C. Arcudi, V. Tognoni, A. L. Gaspari, P. Valdastri, “A Magnetic Levitation Robotic Camera for Minimally Invasive Surgery – Useful for NOTES?”, Surgical Endoscopy, 31 (6), pp. 2529-2533, 2017.

F. Leong, N. Garbin, C. Di Natali, A. Mohammadi, D. Thiruchelvam, D. Oetomo, P. Valdastri, “Magnetic Surgical Instruments for Robotic Abdominal Surgery”, IEEE Reviews in Biomedical Engineering, 9, pp. 66-78, 2016.

E. Susilo, J. Liu, Y. Alvarado-Rayo, A. M. Peck, J. Montenegro, M. Gonyea, P. Valdastri, “eSMAC: an Affordable Modular Robotic Kit for Integrated STEM Education”, IEEE Robotics and Automation Magazine, 2016, Vol. 23, No. 2, pp. 47-55.

M. Beccani, C. Di Natali, P. Valdastri, K. L. Obstein, “Restoring haptic feedback in NOTES procedures with a novel Wireless Tissue Stiffness Probe”, Journal of Medical Robotics Research, 2016, Vol. 01, No. 02, 1650002.

M. Beccani, G. Aiello, N. Gkotsis, H. Tunc, A. Taddese, E. Susilo, P. Volgyesi, A. Ledeczi, E. De Momi, P. Valdastri, “Component Based Design of a Drug Delivery Capsule Robot”, Sensors and Actuators A: Physical, 2016, available on line.

C. Di Natali, M. Beccani, N. Simaan, P. Valdastri, “Jacobian-based Iterative Method For Magnetic Localization in Robotic Capsule Endoscopy”, IEEE Transactions on Robotics, 2016, Vol. 32, N. 2, pp. 327-338.

N. Garbin, P. Slawinski, G. Aiello, C. Karraz, P. Valdastri, “Laparoscopic Camera based on an Orthogonal Magnet Arrangement”, IEEE Robotics and Automation Letters, 2016, Vol. 1, N. 2, pp. 924-929.

P. R. Slawinski, K. L. Obstein, P. Valdastri, “Capsule Endoscopy of the Future: What’s on the Horizon?”, World Journal of Gastroenterology, 2015, Vol. 21, N. 37, pp. 10528-10541.

M. Beccani, H. Tunc, A. Taddese, E. Susilo, P. Volgyesi, A. Ledeczi, P. Valdastri, “Systematic Design of Medical Capsule Robots”, IEEE Design and Test, 2015, Vol. 32, N. 5, pp. 98-108.

N. T. Hoang, C. S. Bell, P. Valdastri, “Utilization of LEDs in a Communication Protocol for Endoscopic Submarine Capsules”, Young Scientist Journal, 2015, pp. 9-12.

P. R. Slawinski, K. L. Obstein, P. Valdastri, “Emerging Issues and Future Developments in Capsule Endoscopy”, Techniques in Gastrointestinal Endoscopy, 2015, Vol. 17, N. 1, pp. 40–46.

R. Caprara, K. L. Obstein, G. Scozzarro, C. Di Natali, M. Beccani, D. R. Morgan, P. Valdastri, “A Platform for Gastric Cancer Screening in Low and Middle-Income Countries”, IEEE Transactions on Biomedical Engineering, 2015, Vol. 62, N. 5, pp. 1324-1332.

C. Di Natali, J. Buzzi, N. Garbin, M. Beccani, P. Valdastri, “Closed-Loop Control of Local Magnetic Actuation for Robotic Surgical Instruments”, IEEE Transactions on Robotics, 2015, Vol. 31, N. 1, pp. 143-156.

M. Beccani, C. Di Natali, C. E. Benjamin, C. S. Bell, N. E. Hall, P. Valdastri, “Wireless Tissue Palpation: head characterization to improve tumor detection in soft tissue”, Sensors and Actuators: A Physical, 2015, Vol. 223, pp. 180-190.

N. Garbin, C. Di Natali, J. Buzzi, E. De Momi, P. Valdastri, “Laparoscopic Tissue Retractor Based on Local Magnetic Actuation”, ASME Journal of Medical Devices, 2015, Vol. 9, 011005-1-10.

M. Beccani, E. Susilo, C. Di Natali, P. Valdastri, “SMAC — A Modular Open Source Architecture for Medical Capsule Robots”, International Journal of Advanced Robotic Systems, 2014, Vol. 11, N. 188, pp. 1-16.

B. A. Steele, C. S. Bell, K. L. Obstein, P. Valdastri, “Tablet Technology to Improve Colonoscopy”, Young Scientist, 2014, Vol. 4, pp. 36-38.

T. Pasricha, B. F. Smith, V. R. Mitchell, B. Fang, E. Brooks, J. Gerding, M. Washington, P. Valdastri, K. L. Obstein, “Controlled colonic insufflation by a remotely-triggered capsule for improved mucosal visualization”, Endoscopy, 2014, Vol. 46, pp. 614-618.

C. Di Natali, M. Beccani, K. L. Obstein, P. Valdastri, “A wireless platform for in vivo measurement of resistant properties of the gastrointestinal tract”, Physiological Measurements 2014, Vol. 35, pp. 1197–1214.

M. Beccani, C. Di Natali, L. Sliker, J. Schoen, M. E. Rentschler, P. Valdastri, “Wireless Tissue Palpation for Intraoperative Detection of Lumps in Soft Tissue”, IEEE Transactions on Biomedical Engineering, 2014, Vol. 61, N. 2, pp. 353-361.

C. S. Bell, K. L. Obstein, P. Valdastri, “Image partitioning and illumination in image-based pose detection for teleoperated flexible endoscopes”, Artificial Intelligence in Medicine, 2013, Vol. 59, N. 3, pp. 185-196.

M. Simi, G. Gerboni, A. Menciassi, P. Valdastri, “Magnetic Torsion Spring Mechanism for a Wireless Biopsy Capsule”, ASME Journal of Medical Devices, 2013, Vol. 7, N. 4, 041009.

A. Arezzo, A. Menciassi, P. Valdastri, G. Ciuti, G. Lucarini, M. Salerno, C. Di Natali, M. Verra, P. Dario, M. Morino, “Experimental assessment of a novel robotically-driven endoscopic capsule compared to traditional colonoscopy”, Digestive and Liver Disease, 2013, Vol. 45, N. 8, pp 657–662.

C. Di Natali, M. Beccani, P. Valdastri, “Real-Time Pose Detection for Magnetic Medical Devices”, IEEE Transactions on Magnetics, 2013, Vol. 49, N. 7, pp. 3524-3527.

M. Simi, R. Pickens, A. Menciassi, S. D. Herrell, P. Valdastri, “Fine tilt tuning of a laparoscopic camera by local magnetic actuation: Two-Port Nephrectomy Experience on Human Cadavers”, Surgical Innovation, 2013, Vol. 20, N. 4, pp. 385-394.

J. L. Gorlewicz, S. Battaglia, B. F. Smith, G. Ciuti, J. Gerding, A. Menciassi, K. L. Obstein, P. Valdastri, R. J. Webster III, “Wireless Insufflation of the Gastrointestinal Tract”, IEEE Transactions on Biomedical Engineering, 2013, Vol. 60, N. 5, pp. 1225-1233.

T. Horeman, D. D. Kurteva, P. Valdastri, F. W. Jansen, J. J. van den Dobbelsteen, J. Dankelman, “The Influence of Instrument Configuration on Tissue Handling Force in Laparoscopy”, Surgical Innovation, 2013, Vol. 20, N. 3, pp. 260-267.

M. Simi, M. Silvestri, C. Cavallotti, M. Vatteroni, P. Valdastri, A. Menciassi, P. Dario, “Magnetically Activated Stereoscopic Vision System for Laparoendoscopic Single Site Surgery”, IEEE/ASME Transactions on Mechatronics, 2013, Vol. 18, N. 3, pp. 1140-1151.

K. L. Obstein, S. Battaglia, B. F. Smith, J. S. Gerding, P. Valdastri, “Novel approach for colonic insufflation via an untethered capsule (with video)”, Gastrointestinal Endoscopy, 2013, Vol. 77, N. 3, pp. 516-517.

K. Obstein, P. Valdastri, “Advanced Endoscopic Technologies for Colorectal Cancer Screening”, World Journal of Gastroenterology, 2013, Vol. 19, N. 4, pp. 431-439.

P. Valdastri, M. Simi, R. J. Webster III, “Advanced Technologies for Gastrointestinal Endoscopy”, Annual Review of Biomedical Engineering, 2012, Vol. 14, pp. 397-429.

G. Ciuti, N. Pateromichelakis, M. Sfakiotakis, P. Valdastri, A. Menciassi, D. P. Tsakiris, P. Dario, “A wireless module for vibratory motor control and inertial sensing in capsule endoscopy”, Sensors and Actuators A: Physical, 2012, Vol. 186, pp. 270-276.

P. Valdastri, G. Ciuti, A. Verbeni, A. Menciassi, P. Dario, A. Arezzo, M. Morino, “Magnetic air capsule robotic system: Proof of concept of a novel approach for painless colonoscopy”, Surgical Endoscopy, 2012, Vol. 26, N. 5, pp. 1238-1246.

G. Ciuti, M. Salerno, G. Lucarini, P. Valdastri, A. Arezzo, A. Menciassi, M. Morino, P. Dario, “A Comparative Evaluation of Control Interfaces for a Robotic-Aided Endoscopic Capsule Platform”, IEEE Transactions on Robotics, 2012, Vol. 28, N. 2, pp. 534-538.

M. Simi, N. Tolou, P. Valdastri, J. L. Herder, A. Menciassi, P. Dario, “Modeling of a Compliant Joint in a Magnetic Levitation System for an Endoscopic Camera”, Mechanical Sciences, 2012, Vol. 3, pp. 5-14.

M. Salerno, G. Ciuti, G. Lucarini, R. Rizzo, P. Valdastri, A. Menciassi, A. Landi, P. Dario, “A discrete-time localization method for capsule endoscopy based on on-board magnetic sensing”, Measurement Science and Technology, 2012, 23 015701 (10pp).

C. Cavallotti, P. Merlino, M. Vatteroni, P. Valdastri, A. Abramo, A. Menciassi, P. Dario, “An FPGA-based flexible demo-board for endoscopic capsule design optimization”, Sensors and Actuators A: Physical, 2011, Vol. 172, No. 1, pp. 301-307.

M. Silvestri, M. Simi, C. Cavallotti, M. Vatteroni, V. Ferrari, C. Freschi, P. Valdastri, A. Menciassi, P. Dario, “Comparative study on surgical performance between two- and three-dimensional vision systems and interfaces”, Surgical Innovation, 2011, Vol. 18, No. 3, pp. 223-230.

P. Valdastri, E. Sinibaldi, S. Caccavaro, G. Tortora, A. Menciassi, P. Dario, “A novel magnetic actuation system for miniature swimming robots”, IEEE Transactions on Robotics, 2011, Vol. 27, No. 4, pp. 769-779.

V. Pensabene, P. Valdastri, S. Tognarelli, A. Menciassi, A. Arezzo, P. Dario, “Mucoadhesive film for anchoring assistive surgical instruments in endoscopic surgery: in vivo assessment of deployment and attachment”, Surgical Endoscopy, 2011, Vol. 25, No. 9, pp. 3071-3079.

P. Valdastri, E. Susilo, T. Förster, C. Strohhöfer, A. Menciassi, P. Dario, “Wireless implantable electronic platform for chronic fluorescent-based biosensors”, IEEE Transactions on Biomedical Engineering, 2011, Vol. 58, No. 6, pp. 1846-1854.

M. Vatteroni, P. Valdastri, A. Sartori, A. Menciassi, P. Dario, “Linear-logarithmic CMOS pixel with tunable dynamic range”, IEEE Transactions on Electron Devices, 2011, Vol. 58, No. 4, pp. 1108-1115.

S. Tognarelli, V. Pensabene, S. Condino, P. Valdastri, A. Menciassi, A. Arezzo, P. Dario, “A pilot study on a new anchoring mechanism for surgical applications based on mucoadhesives”, Minimally Invasive Therapy & Allied Technologies, 2011, Vol. 20, No. 1, pp. 3-13.

M. Piccigallo, U. Scarfogliero, C. Quaglia, G. Petroni, P. Valdastri, A. Menciassi, P. Dario, “Design of a novel bimanual robotic system for single-port laparoscopy”, IEEE/ASME Transactions on Mechatronics, 2010, Vol. 15, No. 6, pp. 871-878.

M. Vatteroni, D. Covi, C. Cavallotti, P. Valdastri, A. Menciassi, P. Dario, A. Sartori, “Smart optical CMOS sensor for endoluminal applications”, Sensors and Actuators A: Physical, 2010, Vol. 162, No. 2, pp. 297-303.

D. Covi, C. Cavallotti, M. Vatteroni, L. Clementel, P. Valdastri, A. Menciassi, P. Dario, A. Sartori, “Miniaturized digital camera system for disposable endoscopic applications”, Sensors and Actuators A: Physical, 2010, Vol. 162, No. 2, pp. 291-296.

E. Buselli, V. Pensabene, P. Castrataro, P. Valdastri, A. Menciassi, P. Dario, “Evaluation of friction enhancement through soft polymer micro-patterns in active capsule endoscopy”, Measurement Science and Technologies, 2010, 21 105802 (7pp).

P. Valdastri, C. Quaglia, E. Buselli, A. Arezzo, N. Di Lorenzo, M. Morino, A. Menciassi, P. Dario, “A Magnetic Internal Mechanism for Camera Steering in Wireless Endoluminal Applications”, Endoscopy, 2010, Vol. 42, pp. 481-486.

J. L. Toennies, G. Tortora, M. Simi, P. Valdastri, R. J. Webster III, “Swallowable Medical Devices for Diagnosis and Surgery: The State of the Art”, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2010, Vol. 224, No. 7, pp. 1397-1414.

M. Simi, G. Ciuti, S. Tognarelli, P. Valdastri, A. Menciassi, P. Dario, “Magnetic link design for a robotic laparoscopic camera”, Journal of Applied Physics, 2010, Vol.107, No. 9, pp. 09B302 – 09B302-3.

M. Simi, P. Valdastri, C. Quaglia, A. Menciassi, P. Dario, “Design, Fabrication and Testing of an Endocapsule with Active Hybrid Locomotion for the Exploration of the Gastrointestinal Tract”, IEEE Transactions on Mechatronics, 2010, Vol. 15, No.2, pp. 170-180.

G. Ciuti, R. Donlin, P. Valdastri, A. Arezzo, A. Menciassi, M. Morino, P. Dario, “Robotic versus manual control in magnetic steering of an endoscopic capsule”, Endoscopy, 2010, Vol. 42, pp. 148-152.

G. Ciuti, P. Valdastri, A. Menciassi, P. Dario, “Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures”, Robotica, 2010, Vol. 28, No. 2, pp.199-207.

R. Carta, G. Tortora, J. Thoné, B. Lenaerts, P. Valdastri, A. Menciassi, R. Puers, P. Dario, “Wireless powering for a self-propelled and steerable endoscopic capsule for stomach inspection”, Biosensors and Bioelectronics, 2009, Vol. 25, No. 4, pp. 845-851.

C. Quaglia, E. Buselli, R. J. Webster III, P. Valdastri, A. Menciassi, P. Dario, “An Endoscopic Capsule Robot: A Meso-Scale Engineering Case Study”, Journal of Micromechanics and Microengineering, 2009, Vol. 19, No. 10, 105007 (11pp).

G. Tortora, P. Valdastri, E. Susilo, A. Menciassi, P. Dario, F. Rieber, M. O. Schurr, “Propeller-based wireless device for active capsular endoscopy in the gastric district”, Minimally Invasive Therapy & Allied Technologies, 2009, Vol. 18, No. 5, pp. 280-290.

E. Susilo, P. Valdastri, A. Menciassi, P. Dario, “A Miniaturized Wireless Control Platform for Robotic Capsular Endoscopy Using Advanced Pseudokernel Approach”, Sensors and Actuators A: Physical, 2009, Vol. 156, No. 1, pp. 49-58.

C. Cavallotti, M. Piccigallo, E. Susilo, P. Valdastri, A. Menciassi, P. Dario, “An Integrated Vision System with Autofocus for Wireless Capsular Endoscopy”, Sensors and Actuators A: Physical, 2009, Vol. 156, No. 1, pp. 72-78.

P. Valdastri, R. J. Webster III, C. Quaglia, M. Quirini, A. Menciassi, P. Dario, “A New Mechanism for Meso-Scale Legged Locomotion in Compliant Tubular Environments”, IEEE Transactions on Robotics, 2009, Vol. 25, No. 5, pp. 1047-1057.

P. Valdastri, S. Tognarelli, A. Menciassi, P. Dario, “A scalable platform for biomechanical studies of tissue cutting forces”, Measurement Science and Technology, 2009, Vol. 20, 045801 (11pp).

E. Buselli, P. Valdastri, M. Quirini, A. Menciassi, P. Dario, “Superelastic leg design optimization for an endoscopic capsule with active locomotion”, Smart Materials and Structures, 2009, Vol. 18, 015001 (8pp).

P. Valdastri, C. Quaglia, E. Susilo, A. Menciassi, P. Dario, C.N. Ho, G. Anhoeck, M.O. Schurr, “Wireless Therapeutic Endoscopic Capsule: in-vivo Experiment”, Endoscopy, 2008, Vol. 40, pp. 979-982.

P. Valdastri, A. Menciassi, P. Dario, “Transmission Power Requirements for Novel ZigBee Implants in the Gastrointestinal Tract”, IEEE Transactions on Biomedical Engineering, 2008, Vol. 55, No. 6, pp. 1705-1710.

P. Valdastri, S. Rossi, A. Menciassi, V. Lionetti, F. Bernini, F. A. Recchia, P. Dario, “An Implantable ZigBee Ready Telemetric Platform For In Vivo Monitoring Of Physiological Parameters”, Sensors and Actuators A: Physical, 2008, Vol. 142, No. 1, pp. 369-378.

A. Sieber, P. Valdastri, K. Houston, C. Eder, O. Tonet, A. Menciassi, P. Dario, “A Novel Haptic Platform for Real Time Bilateral Biomanipulation with a MEMS Sensor for Triaxial Force Feedback”, Sensors and Actuators A: Physical, 2008, Vol. 142, No. 1, pp. 19-27.

A. Sieber, P. Valdastri, K. Houston, A. Menciassi, P. Dario, “Flip Chip Microassembly of a Silicon Triaxial Force Sensor on Flexible Substrates”, Sensors and Actuators A: Physical, 2008, Vol. 142, No. 1, pp. 421-428.

L. Beccai, S. Roccella, L. Ascari, P. Valdastri, A. Sieber, M. C. Carrozza, P. Dario, “Development and Experimental Analysis of a Soft Compliant Tactile Microsensor to be Integrated in an Antropomorphic Artificial Hand”, IEEE/ASME Transactions on Mechatronics, 2008, Vol. 13, No. 2, pp. 158-168.

C. Oddo, P. Valdastri, L. Beccai, S. Roccella, M.C. Carrozza, P. Dario, “Investigation on calibration methods for multi-axis, linear and redundant force sensors”, Measurement Science and Technology, 2007, Vol. 18, pp.623-631.

P. Valdastri, K. Houston, A. Menciassi, P. Dario, A. Sieber, M. Yanagihara, M. Fujie, “Miniaturised Cutting Tool with Triaxial Force Sensing Capabilities for Minimally Invasive Surgery”, ASME Journal of Medical Devices, 2007, Vol. 1, N. 3, pp. 206-211.

G. Turchetti, B. Labella, P. Valdastri, A. Menciassi, P. Dario, “The importance of giving an alternative: the case of fetal surgery”, Int. J. Healthcare Technology and Management, 2007, Vol. 8, Nos. 3-4, pp.250–267.

P. Valdastri, K. Harada, A. Menciassi, L. Beccai, C. Stefanini, M. Fujie, and P. Dario, “Integration of a Miniaturised Triaxial Force Sensor in a Minimally Invasive Surgical Tool”, IEEE Transactions on Biomedical Engineering, 2006, Vol. 53, No. 11, 2397-2400.

P. Valdastri, P. Corradi, A. Menciassi, T. Schmickl, K. Crailsheim, J. Seyfried, P. Dario, “Micromanipulation, Communication and Swarm Intelligence Issues in a Swarm Microrobotic Platform”, Robotics and Autonomous Systems, 2006, Vol. 54, No. 10, pp. 789-804.

P. Valdastri, S. Roccella, L. Beccai, E. Cattin, A. Menciassi, M. C. Carrozza, P. Dario, “Characterization of a novel hybrid silicon three-axial force sensor”, Sensors and Actuators A: Physical, 2005, Vol. 123-124C, pp. 249-257.

L. Beccai, S. Roccella, A. Arena, F. Valvo, P. Valdastri, A. Menciassi, M. C. Carrozza, P. Dario, “Design and fabrication of a hybrid silicon three axial force sensor for biomechanical applications”, Sensors and Actuators A: Physical, 2005, Vol. 120, No. 2, pp. 370-382.

P. Valdastri, A. Menciassi, A. Arena, C. Caccamo, and P. Dario, “An Implantable Telemetry Platform System for in vivo Monitoring of Physiological Parameters”, IEEE Transactions on Information Technology in Biomedicine, 2004, Vol. 8, No. 3, pp. 271-278.