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Scope
Scope
A reseach that aims to develop a framework capable of autonomously identifying suspicious spots within a designated area. To achieve this objective, we must first develop an algorithm for online estimation of the stiffness of soft surfaces and then incorporate this algorithm within another search algorithm.
Expected Outcomes
Expected Outcomes
The expected outcomes of this research include the development of on-line approaches for the estimation of the mechanical properties of viscoelastic material using robotic palpation. The estimated mechanical properties will be used in conjunction with interaction control algorithms to enhance to physical human-robot interaction and tumor detection. Efficient search algorithms will be also developed to automate the detection of tumors.
Publications and Patents
Publications and Patents
Publications:
Publications:
D. Nardi, E. Lamon, L. Beber, D. Fontanelli, M. Saveriano and L. Palopoli, “An Anatomy-Aware Shared Control Approach for Assisted Teleoperation of Lung Ultrasound Examinations”. Submitted to 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025.
L. Beber, E. Lamon, G, Moretti, M. Saveriano, L. Fambri, L. Palopoli and D. Fontanelli, “Force-Based Viscosity and Elasticity Measurements for Material Biomechanical Characterisation with a Collaborative Robotic Arm”, Submitted to IEEE Transactions on Instrumentation and Measurement (TIM).
L. Beber, E. Lamon, D. Nardi, D. Fontanelli, M. Saveriano and L. Palopoli, "A Passive Variable Impedance Control Strategy with Viscoelastic Parameters Estimation of Soft Tissues for Safe Ultrasonography," 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 1298-1304, doi: 10.1109/ICRA57147.2024.10610167.
L. Beber, E. Lamon, L. Palopoli, L. Fambri, M. Saveriano and D. Fontanelli, "Elasticity Measurements of Expanded Foams Using a Collaborative Robotic Arm," 2024 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), 2024, pp. 1-6, doi: 10.1109/I2MTC60896.2024.10561214.
Beber, L., Lamon, E., Moretti, G., Fontanelli, D., Saveriano, M., and Palopoli, L. , "Towards Robotised Palpation for Cancer Detection through Online Tissue Viscoelastic Characterisation with a Collaborative Robotic Arm", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
D. Nardi, E. Lamon, D. Fontanelli, M. Saveriano, and L. Palopoli, “An anatomy-aware shared control approach for assisted teleoperation of lung ultrasound examinations,” IEEE Robotics and Automation Letters, accepted Dec. 2025.
D. Nardi, G. Martinelli, N. Bisagno, D. Fontanelli, M. Saveriano, L. Palopoli, and E. Lamon, “SMPL_ROS: A ROS 2 package with parametric human body models for robotic applications,” in Proc. I-RIM 2025, 7th Italian Conference on Robotics and Intelligent Machines, Rome, Italy, Oct. 2025, doi: 10.5281/zenodo.17629894.
D. Nardi, E. Lamon, L. Beber, M. Saveriano, D. Fontanelli, and L. Palopoli, “Virtual fixtures from digital twin for teleoperated lung ultrasound,” in Proc. International Lung Ultrasound Symposium (ILUS), June 2025, Trento, Italy, 2025.
D. Nardi, L. Beber, M. Saveriano, D. Fontanelli, L. Palopoli, and E. Lamon, “Towards anatomically accurate generation of virtual fixtures for teleoperated examinations,” in Proc. Hamlyn Symposium on Medical Robotics 2025, London, UK, Jun. 2025, doi: 10.31256/HSMR25.35.
D. Nardi, L. Beber, D. Fontanelli, M. Saveriano, L. Palopoli, and E. Lamon, “A patient-specific teleoperation framework for lung ultrasound,” in Proc. I-RIM 3D 2024, Italian Institute of Robotics and Intelligent Machines, Rome, Oct. 2024, doi: 10.5281/zenodo.14730993.
Personnel
Personnel
Reference person: Daniele Fontanelli
DII members: Matteo Saveriano, Giacomo Moretti, Luca Fambri
External collaborators: Luca Beber (UniTN - DISI, DRIM PhD student), Davide Nardi (UniTN - DISI PhD Student)
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