Publications

This page lists my publications by category and date. I try to keep the links up to date here as best as I can, but generally most of my publications are accessible in Green Open Access through Arxiv or HAL. Please contact me if you need to access one that is not. 

Journals

2025

• B. Farola Barata, G. Liao, G. Borghesan, K. McCutcheon, J. Bennett, B. Rosa, M. de Mathelin, F. Nageotte, M.J. Gora, J. Vander Sloten, E. Vander Poorten, D. Dall'Alba. "ACE-Net: A-line coordinates encoding network for vascular structure segmentation in ultrasound images". Medical & Biological Engineering 7 Computing, to appear. [PDF]

• L. Sestini, B. Rosa, E. De Momi, G. Ferrigno, N. Padoy "SAF-IS: a Spatial Annotation Free Framework for Instance Segmentation of Surgical Tools". Medical Image Analysis, vol 101, April 2025, 103471. [PDF]

2024

• G. Lods, B.Rosa, B. Bayle, F. Nageotte. "Exact Derivative Propagation Method to compute the Generalized Compliance Matrix for Continuum Robots: Application to Concentric Tubes Continuum Robots”. Mechanism and Machine Theory, Vol. 200, 105696. [PDF] [Code] 

• M. Tummers, F. boyer, V. Lebastard, A. Offermann, J. Troccaz, B. Rosa, M.T. Chikhaoui. "Continuum concentric push-pull robots: a Cosserat rod model", International Journal of Robotics Research, in press. [PDF] [Code]

• F. Gonzalez-Herrera, F. Nageotte, P. Zanne, G. Borghesan, M. de Mathelin, E. Vander Poorten, B. Rosa. "A semi-autonomous control mode for flexible steerable intraluminal platforms". IEEE Transactions on Medical Robotics and Bionics, Vol.6 (3), pp 839-850.  [PDF]

2023

• L. Sestini, B Rosa, E De Momi, G Ferrigno, N Padoy. "FUN-SIS: a Fully UNsupervised approach for Surgical Instrument Segmentation". Medical Image Analysis, Vol 85, April 2023.  PDF and Video 

• M. Tummers, V. Lebastard, F. Boyer, J. Troccaz, B. Rosa, M. Taha Chikhaoui. "Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives". IEEE Transactions on Robotics. Accepted January 2023, In press. PDF , Video, and Code available 

• J. Lazo, B. Rosa, M. Cattellani, M. Fontana, F. Mistretta, G. Musi, O. de Cobelli, M. de Mathelin, E.de Momi. "Semi-supervised GAN for Bladder Tissue Classification in Multi-Domain Endoscopic Images". IEEE Transactions on Biomedical Engineering, In press, 2023. PDF and Dataset

• S. Manjila, B. Rosa, K. Price, R. Manjia, M. Mencattelli, P.E. Dupont. "Robotic instruments inside the MRI bore: key concepts and evolving paradigms in imaging-enhanced cranial neurosurgery". World journal of Neurosurgery. Accepted January 2023, In press. PDF 

• O. Caravaca Mora, P. Zanne, G. Liao, N. Zulina, L. Heroin, L. Zorn, M. de Mathelin, B. Rosa, F. Nageotte, M. Gora. "Automatic intraluminal scanning with a steerable endoscopic OCT catheter for Gastroenterology applications". Journal of Optical Microsystems, Vol. 3, Issue 1, 011005 (January 2023). https://doi.org/10.1117/1.JOM.3.1.011005 (open access)

2022

• G. Liao, O. Caravaca Mora, B. Rosa, P. Zanne, D. Dall'alba , P. Fiorini , M. de Mathelin, F. Nageotte, M. Gora. "Distortion and instability compensation with deep learning for rotational scanning endoscopic optical coherence tomography". Medical Image Analysis. Vol 77, April 2022. doi:10.1016/j.media.2022.102355 (open access)

• S. Sahu, I. Tamadon, B. Rosa, P. Renaud, A. Menciassi. "A Spring-based Inductive Sensor for Soft and Flexible Robots". IEEE Sensors Journal, 22(20), October 2022. PDF

2021

• Z. Zhang, B. Rosa, F. Nageotte. "Surgical Tool Segmentation using Generative Adversarial Networks with Unpaired Training Data". IEEE Robotics and Automation Letters. Accepted June 2021, In press. PDF

• S. Sahu, C. Sozer, B. Rosa, I. Tamadon, P. Renaud, A. Menciassi. Shape Reconstruction Processes for Interventional Application Devices : State of the Art, Progress, and Future Directions. Frontiers in Robotics and AI 8 (2021). PDF

• G. Liao, O. Caravaca Mora, B. Rosa, P. Zanne, A. Asch, D. Dall’Alba, P. Fiorini, M. de Mathelin, F. Nageotte, M. Gora. "Data Stream Stabilization for Optical Coherence Tomography Volumetric Scanning". IEEE Transactions on Medical Robotics and Bionics. Accepted June 2021. PDF 

• Z. Zhang, B. Rosa, O. Caravaca Mora, P. Zanne, M. Gora, F. Nageotte. "Image-guided control of an endoscopic robot for OCT path scanning". IEEE Robotics and Automation Letters, 6.3 (2021): 5881-5888. PDF

• J. Lazo, A. Marzullo, S. Moccia, M. Cattellani, B. Rosa, M. de Mathelin, E. de Momi. "Using spatial-temporal ensembles of convolutional neural networks for lumen segmentation in ureteroscopy". International Journal of Computer Assisted Radiology and Surgery, PDF

• L. Sestini, B. Rosa, E. De Momi, G. Ferrigno and N. Padoy, "A kinematic bottleneck approach for pose regression of flexible surgical instruments directly from images", IEEE Robotics and Automation Letters, 6.2 (2021): 2938-2945. PDF and Video 

2020

• T. Poignonec, P. Zanne, B. Rosa, and F. Nageotte, "Towards in situ Backlash Estimation of Continuum Robots using an Endoscopic Camera", IEEE Robotics and Automation Letters, 5.3 (2020): 4788-4795. PDF

2019

• G. Fagogenis, M. Mencattelli, Z. Machiadze, B. Rosa, K. Price, F. Wu, V. Weixler, M. Saeed, J.E. Mayer, and P.E. Dupont, "Autonomous Robotic intracardiac catheter navigation using haptic vision", Science Robotics, Vol. 4, Issue 29, eaaw1977 .  Named in the top three experimental papers for the 2019-2020 period in the field of robotic cardiac navigation by the Society for Cardiac Robotic Navigation. PDF and Video 

• B. Rosa, V. Bordoux, and F. Nageotte, "Combining differential kinematics and optical flow for automatic labelling of continuum robots in minimally invasive surgery", Frontiers in Robotics and AI, Full text at: 10.3389/frobt.2019.00086

2018

• B. Rosa, Bassem Dahroug, Brahim Tamadazte, Kanty Rabenorosoa, Patrick Rougeot, Nicolas Andreff, Pierre Renaud, "Online robust endomicroscopy video mosaicking using robot prior", IEEE Robotics and Automation Letters, 3.4 (2018): 4163-4170. PDF

• S. Manjila*, B. Rosa*, M. Mencattelli, P.E. Dupont, "Minimally invasive bilateral anterior cingulotomy via open minicraniotomy using a novel multiport cisternoscope: a cadaveric demonstration", Operative Neurosurgery, 2018. DOI: 10.1093/ons/opy083. PDF

2017

• B. Rosa, Z. Machaidze, M. Mencattelli, S. Manjila, B. Shin, K. Price, M. Borger, V. Thourani, P. J. del Nido, D. Brown, C. Baird, J. Mayer Jr, P. E. Dupont, "Cardioscopically-guided beating heart surgery: paravalvular leak repair", The Annals of Thoracic Surgery, vol 104, no.3, pp 1074-1079, 2017. PDF

• B. Rosa, Z. Machaidze, B. Shin, S. Manjila, D. Brown, C. Baird, J. Mayer Jr, P. E. Dupont, "A low cost bioprosthetic semilunar valve for research, disease modeling and surgical training applications", Interactive CardioVascular and Thoracic Surgery, vol.25, no.5, pp.785-792, 2017. Cover of the journal issue. PDF

2016

• S. Manjila, M. Mencatelli, B. Rosa, K. Price, G. Fagogenis, P.E. Dupont. A Multi-port MR-compatible Neuroendoscope - Spanning the Gap between Rigid and Flexible Scopes. Neurosurgical Focus, vol. 41, no. 3, pp. E13 (15 pages), 2016. PDF 

• P.T. Tran, A. Devreker, B. Rosa, H. De Praetere, N. Hani, N. Famaey, D. Seatovic, P. Herijgers, J. Vander Sloten, D. Reynaerts, E. Vander Poorten. Intuitive Control Strategies for Teleoperation of Active Catheters in Endovascular Surgery. Journal of Medical Robotics Research, Vol1, 1640012 (16 pages), 2016.

• E. Vanderpoorten et al, Cognitive Autonomous Catheter Operating in Dynamic Environments. Journal of Medical Robotics Research, Vol 1, 1640011 (25 pages), 2016.

• C. Gruijthuijsen, B. Rosa, P.T. Tran, J. Vander Sloten, E. Vander Poorten, D. Reynaerts. An Automatic Registration Method for Radiation-free Catheter Navigation Guidance. Journal of Medical Robotics Research, Vol 1, 1640009 (13 pages), 2016.

2015

• G. Smoljkic, G. Borghesan, A. Devreker, E. Vander Poorten, B. Rosa, H. De Praetere, J. De Schutter, D. Reynaerts, J. Vander Sloten, Control of a hybrid robotic system for computer-assisted interventions in dynamic environments. International Journal of Computer Assisted Radiology and Surgery, vol 11. no.7, pp. 1371-1383, 2015. PDF 

• B Rosa, C. Gruijthuijsen, B. Van Cleynenbreughel, J. Vander Sloten, D. Reynaerts and E. Vander Poorten, Estimation of Optimal Pivot Point for Remote Center of Motion Alignment in Surgery. International Journal of Computer Assisted Radiology and Surgery. Vol 10 no 2, pp. 205–215, 2015

2014

• MS. Erden, B Rosa, N. Boularot, B. Gayet, G. Morel and J.Szewczyk, Conic-Spiraleur: A Miniature Distal Scanner for Confocal Microlaparoscope. IEEE Transactions on Mechatronics. Vol 19 no 6, pp. 1786–1798, 2014

2013

• B Rosa, M Erden, T Vercauteren, B Herman, J Szewczyk, G Morel, Building large mosaics of confocal endomicroscopic images using visual servoing. IEEE Transactions on BioMedical Engineering. Vol 60 no 4, pp 1041-1041, 2013. Paper selected as April 2013 TBME mothly highlight, and cover of the journal issue. PDF 

• M Erden, B Rosa, J Szewczyk, G Morel, Understanding soft tissue behavior for application to microlaparoscopic surface scan. IEEE Transactions on BioMedical Engineering. Vol 60 no 4, pp 1059-1068, 2013 PDF 

2011

• B Rosa, P Mozer, J Szewczyk, An algorithm for calculi segmentation on ureteroscopic images. International Journal of Computer Assisted Radiology and Surgery, Vol 6 no 2, pp 237-326, 2011

Thesis

• B Rosa, Robotisation de la realisation de mosaiques d'images endomicroscopiques. These de l'Universite Pierre et Marie Curie, 2013 (in French). Best PhD Award from the CNRS - GdR Robotique.  PDF 

Peer-reviewed conference articles

2024

• G. Lods, F. Nageotte, B. Bayle, B. Rosa. (2024). "Force Sensing along Continuum Robots using Compliance Matrix and Shape Acquisition", Hamlyn Symposium on Medical Robotics 2024. PDF

2022

• L. Lazo, C.F. Lai, S. Moccia, B. Rosa, M. Cattellani, M. de Mathelin, G. Ferrigno, P. Breeedveld, J. Dankelman, E. De Momi. (2022). Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing. In International Conference on Robots and Systems (IROS) 2022. PDF 

2021

• J. Lazo, A. Marzullo, S. Moccia, M. Catellani, B. Rosa, F. Calimeri, M. de Mathelin, E. De Momi, A lumen segmentation  method in ureteroscopy images based on a deep residual u-net architecture, in: Proceedings 2020 25th International Conference on Pattern Recognition (ICPR), pages to appear, 2021. PDF

2019

• C. da Costa Rocha, N. Padoy, and B. Rosa, Self-Supervised Surgical Tool Segmentation using Kinematic Information, in: Proceedings IEEE Int. Conf. on Robotics and Automation (ICRA 2019), pages to appear, 2019. PDF 

2018

• B. Rosa, K. Rabenorosoa, B. Tamadazte, P. Rougeot, N. Andreff, and P. Renaud. Building robust confocal endomicroscopy mosaics despite image losses. Hamlyn Symposium on Medical Robotics, 2018

2017

• B. Rosa, G. Fagogenis, J. Ha, P.E. Dupont. Image-based contact stabilization inside the beating heart. Hamlyn Symposium on Medical Robotics, 2017

2016

• B. Rosa, Z. Machaidze, P.E. Dupont. When will a Robot Outperform a Handheld Instrument ? -- A Case Study in Beating Heart Paravalvular Leak Closure. Hamlyn Symposium on Medical Robotics, 2016

• M. Mencatelli, S. Manjila, B. Rosa, K. Price, G. Fagogenis, P.E. Dupont. Multi-Port Neuroendoscope for Robotic Intraventricular Procedures.  Hamlyn Symposium on Medical Robotics, 2016

2015

• B. Rosa, A. Devreker, H. De Praetere, C. Gruijthuijsen, S. Portoles Diez, A. Gijbels, D. Reynaerts, P. Herijgers, J. Vander Sloten, E.B. Vander Poorten. "Intuitive Teleoperation of Active Catheters for Endovascular Surgery". 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2015, pp.2617-2624.

• A. Devreker, B. Rosa, A. Desjardins, E.J. Alles, L.G. Peraza Herrera, E. Maneas, D. Stoyanov, T. Vercauteren, A. David, J. Deprest, S. Ourselin, D. Reynaerts, E.B. Vander Poorten. "Fluidic actuation for intra-operative in situ imaging". 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2015, pp. 1415-1421. PDF

• S. Portoles Diez, P. Vanbiervliet, B. Rosa, C. Tomassetti, C. Meuleman, E. Vander Poorten, and D. Reynaerts. “Force Control for Tissue Tensioning in Precise Robotic Laser Surgery”. Robotics and Automation (ICRA), 2015 IEEE International Conference on. 2015, pp 579-585. PDF

2014

• B Rosa, J Szewczyk, G Morel, A biomechanical model describing tangential tissue deformations during contact micro-probe scanning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp 4327-4333.

2013

• J Mahé, T Vercauteren, B Rosa, J Dauguet, A Viterbi approach to topology inference for large scale endomicroscopy video mosaicing, Medical Image Computing and Computer-Assisted Intervention – MICCAI 2013. Lecture Notes in Computer Science Volume 8149, 2013, pp 404-411. PDF

• MS Erden, B Rosa, J Szewczyk, G Morel, Mechanical design of a distal scanner for confocal microlaparoscope: a conic solution, IEEE International Conference on Robotics and Automation (ICRA 2013), pp. 1205-1212, 2013. PDF

2012

• B Rosa, MS Erden, T Vercauteren, J Szewczyk, G Morel, Scanning the surface of soft tissues with a micrometer precision thanks to endomicroscopy based visual servoing. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), pp 4118-4124, 2012. PDF

• M Erden, B Rosa, J Szewczyk, G Morel, Understanding soft tissue behavior for microlaparoscopic surface scan, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), pp 2928-2934, 2012

2011

• B Rosa, B Herman, J Szewczyk, B Gayet, G Morel, Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pp 1339-1345, 2011. PDF

Invited Talks

2022

• • B Rosa. Imagerie OCT pour l'endoscopie flexible robotisée. Journée commune GdR Robotique / GdR ISIS "nouveaux capteurs émergents pour la robotique". November 10, 2022. 

  • B Rosa.  Robotique et IA pour la chirurgie : aspects éthiques et facteurs humains. Ecole d'automne de l'ITI Lethica "Enjeux éthiques et esthétiques de l'intelligence artificielle". September 29, 2022

2021

• • B Rosa. Vision-based estimation and control for endoluminal interventions. Workshop on Autonomy and shared autonomy in endoluminal approaches for soft surgical robots. June 29, 2022

2017

• • B Rosa. High-level interfaces for teleoperated active catheters in endovascular surgery. Journée GT1/GT6 du GdR robotique médicale. June 29, 2017, Paris

2014

• • B Rosa. Robotic assisstance to endomicroscopy. National days of the GdR robotique, invited talk as Best PhD award winner in robotics for 2013. Paris, October 29 2014. [Slides]

  • B Rosa. Design and control of intuitive robotic instruments for Surgery. Invited talk at the ICube laboratory, IRCAD center, Strasbourg, December 2, 2014

• • B Rosa. Design and control of intuitive robotic instruments for Surgery. Invited talk at the LIRMM laboratory, Montpellier, November 27, 2014.

2013

• B Rosa. Robotic assistance to endomicroscopy. Invited talk at the Center for Medical Image Computing, University College London, April 4, 2013

• B Rosa. Robotic assistance to endomicroscopy. Invited talk at the Mechanical Engineering Department, KU Leuven, April 6, 2013

Patents

2021

• P. Dupont, G. Fagogenis, B. Rosa, M. Mencattelli, Z. Machaidze. Autonomous Robotic Catheter for Minimally Invasive Interventions. US Patent (granted) 12274413 B2. 2021.

2016

• P. Dupont, A. Ataollahi, P.J Del Nido, I. Berra, M. Mencatelli, S. Manjila, B. Rosa, Z. Machaidze. Optically guided surgical devices, 2016. US patent App. US20160367120A1.

2014

• B. Rosa and E.B. Vander Poorten. Method and device for estimating an optimal pivot point, 2014. International patent application PCT/EP2015/05813.

2013

• MS Erden, B Rosa, J Szewczyk, G Morel, C Vidal, P Henri, and N Boularot. Miniaturized scanning system, 2013. International patent application PCT/IB2013/001024. US Patent (granted) US9655499B2

2012

• B Rosa, B Herman, J Szewczyk, G Morel, C Vidal, P Henri, F Lacombe, and J Lopez. Endoscopic instrument with support foot, 2012. International application PCT/EP2012/062264, granted in France (FR2977135B1) Japan (JP5848445B2) and USA (US10765412B2)

Conference abstracts

2022

• G. Liao et al, Autonomous OCT volumetric scanning with robotic endoscope, SPIE Photonics Europe 2022.

• G. Liao et al, Colon lumen exploration with robotized optical coherence tomography catheter, SPIE BIOS 2022.

2021

• G. Liao et al, OCT image-guidance of needle injection for robotized flexible interventional endoscopy, SPIE BIOS 2021.

• G. Liao et al, Rotational distortion compensation with deep learning for proximal-scanning endoscopic optical coherence tomography, SPIE BIOS 2021.

2016

• Z. Machaidze, B. Rosa, M. Mencattelli, S. Manjila, K.  Price, M. Borger, V. Thourani, D. Brown, C. Baird, JE. Mayer Jr, P.E. Dupont, 

• TCT-246 Cardioscopy-Guided Repair of Aortic Paravalvular Leak in Porcine Beating Heart Model. Proc. of TCT 2016, published in Journal of the American College of Cardiology, suppl. S, 68.18(Nov 1, 2016): B100.

2014

• B. Rosa, C. Gruijthuijsen, E. Vander Poorten, B. Van Cleynenbreughel, D. Reynaerts and J. Vander Sloten, Estimation of Optimal Pivot Point for Remote Center of Motion Alignment in Surgery. Computer Assisted Radiology and Surgery - CARS 2014. Published in Int. J. Comput. Assist. Radiol. Surg. Volume 9 Supplement 1. 2014, S316

2010

• B Rosa, J Szewczyk, and P Mozer. Robotization of a ureteroscope for automatic lithiasis vaporization. In 25th Engineering & Urology Society meeting. San Francisco, CA, USA. Published in the Journal of Endourology, Vol 24 No 12, pages 2112–2113, 2010.

Workshops and oral presentations

2022

• BF Barata, GLiao, D Dall’Alba, G Borghesan, B Rosa, M de Mathelin, F Nageotte, P Fiorini, MJ Gora, J Vander Sloten, E Vander Poorten. One-Shot Boundary Detection Network for Multi-Modal Side-Viewing Imaging. Proc. of the 11th Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS 2022)

• M. Finocchiaro et al, Multi-level-assistance Robotic Platform for Navigation in the Urinary System: Design and Preliminary Tests. Proceeding of the 11th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2022). Best demo award

2020

• J. Lazo, A Marzullo, SMoccia, B Rosa, E De Momi. Segmentation of Lumen in Ureteroscopy Images using Deep Learning, Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS 2020)

2017

• B. Rosa, Simultaneous hand-eye registration and instrument tracking initialization for continuum robots, CRAS 2017, Montpellier.

2015

• E. Vander Poorten, L. Esteveny, A. Gijbels, B. Rosa, L. Schoevaerdts, et al. "Use case for European Robotics in Ophtalmologic Micro-Surgery", 5th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2015)

• A. Devreker, B. Rosa, J. Qian, T. Vercauteren, S. Ourselin, E. Vander Poorten, D. Reynaerts. "Design and validation of Pneumatically Actuated Fetoscope", 5th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2015). 3rd Prize for best paper and presentation award

• C. Gruithuijsen, B. Rosa, H. Snyers, A. Engels, J. Deprest, E. Vander Poorten, D. Reynaerts. "Prototyping Novel Instruments for Fetal Surgery through Virtual Reality Simulation and 3D Printing", 5th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2015)

2014

• B Rosa. Assistance robotique pour la chirurgie de l'oeil. Journée du GDR robotique, GT robotique médicale, Paris, May 21 2014.

• A. Devreker, S. Portoles Diez, A. Gijbels, B. Rosa, J. Vander Sloten, H. De Praetere, P. Herijgers, E. Vander Poorten, and D. Reynaerts. “Towards Intuitive Operation of a Robotic Catheter”. 4th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2014). 2014, pp. 100–103.

• B. Rosa, E. Vander Poorten, B. Van Soom, D. Reynaerts, and J. Vander Sloten. “Reducing Invasiveness of Robot-assisted Surgery by Semi-automatic Alignment to the Incision Point”. 4th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2014). 2014, pp. 56–59.

2013

• B Rosa, J Szewczyk, and G Morel. Precise navigation on soft tissues with an endomicroscopy probe. 3rd International Workshop on Computer/Robotic Assisted Surgery (CRAS 2013), Verona, 2013. Finalist for best paper award

2012

• B Rosa. Apport de la robotique en endomicroscopie confocale. Journée du GDR robotique, GT robotique médicale, Paris, May 30 2012.

2010

• B Rosa, J Szewczyk, and P Mozer. A novel active ureteroscope prototype for efficient semi-automatic vaporization of kidney stones. Workshop on Snakes, Worms and Catheters, IEEE ICRA, Anchorage (USA), 2010.