11 citations · 18 across the 8 of their papers we have counts for
9 papers
Design of Magnetic Continuum Robots with Tunable Force Response Using Rotational Ring Pairs
Alex Sayres, Giovanni Pittiglio
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effec…
An Anatomy-specific Guidewire Shaping Robot for Improved Vascular Navigation
Aabha Tamhankar, Jay Patil, Giovanni Pittiglio
Neuroendovascular access often relies on passive microwires that are hand-shaped at the back table and then used to track a microcatheter to the target. Neuroendovascular surgeons…
Contact-aware Path Planning for Autonomous Neuroendovascular Navigation
Aabha Tamhankar, Ron Alterovitz, Ajit S. Puri +1
We propose a deterministic and time-efficient contact-aware path planner for neurovascular navigation. The algorithm leverages information from pre- and intra-operative images of t…
Towards Autonomous Navigation of Neuroendovascular Tools for Timely Stroke Treatment via Contact-aware Path Planning
Aabha Tamhankar, Giovanni Pittiglio
In this paper, we propose a model-based contact-aware motion planner for autonomous navigation of neuroendovascular tools in acute ischemic stroke. The planner is designed to find…
Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment
Giovanni Pittiglio, Fabio Leuenberger, Margherita Mencattelli +3
This paper introduces a novel magnetic navigation system for cardiac ablation. The system is formed from two key elements: a magnetic ablation catheter consisting of a chain of sph…
Continuum Robot Shape Estimation Using Magnetic Ball Chains
Giovanni Pittiglio, Abdulhamit Donder, Pierre E. Dupont
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need fo…
Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots
Yuan Wang, Max McCandless, Abdulhamit Donder +4
The ability to accurately model mechanical hysteretic behavior in tendon-actuated continuum robots using deep learning approaches is a growing area of interest. In this paper, we i…
Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions
Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder +2
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated usin…
Magnetic Ball Chain Robots for Endoluminal Interventions
Giovanni Pittiglio, Margherita Mencattelli, Pierre E. Dupont
This paper introduces a novel class of hyperredundant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controll…