Enayati N, De Momi E, and Ferrigno G. (2015) "A Quaternion-based Unscented Kalman Filter for Robust Optical/Inertial Motion Tracking in Computer-assisted Surgery". Accepted for publication IEEE Transaction on Measurements and Instrumentation

E Beretta, E De Momi, F Rodriguez y Baena, and G Ferrigno "Adaptive Hands-On Control for Reaching and Targeting tasks in Surgery", International Journal of Advanced Robotic Systems, 2015, accepted

Y. Kassahun, R. Perrone, E. De Momi, E. Berghofer, L. Tassi, M. P. Canevini, R. Spreafico, G. Ferrigno, F. Kirchner, Automatic Classification of Epilepsy Types Using Ontology-based and Genetic based Machine Learning, Artificial intelligence in medicine, 61(2), 79-88.

B. Fuerst, W. Wein, M. Müller, N. Navab, Automatic Ultrasound-MRI Registration for Neurosurgery using the 2D and 3D LC2 Metric, Medical Image Analysis, 2014

M. D. Comparetti, E. De Momi, T. Beyl, M. Kunze, J. Raczkowsky, and G. Ferrigno, Convergence analysis of iterative targeting method for image guided robotic surgery, International Journal of Advanced Robotic Systems, 11:60, 2014.

S. A. Bowyer and F. Rodriguez y Baena, Deformation invariant bounding spheres for dynamic active constraints in surgery, Proc. Institute of Mechanical Engineers, Part H: Journal of Engineering in Medicine, vol. 228, no. 4, pp. 350–361, Apr. 2014

G. Rosati, F. Oscari, C. Pacchierotti, D. Prattichizzo, Effects of kinesthetic and cutaneous stimulation during the learning of a viscous force field, IEEE Transactions on Haptics, Special Issue on Haptics in Rehabilitation and Neural Engineering, In Press, 2014.

L. Meli, C. Pachierotti, and D. Pratichizzo, Sensory Subtraction in Robot-Assisted Surgery: Fingertip Skin Deformation Feedback to Ensure Safety and Improve Transparency in Bimanual Haptic Interaction, IEEE Transaction on Biomedical Engineering, April 2014, 1318-1327.

C.A. de Oliveira Faria, O. Sadowsky , E. Bicho , G. Ferrigno , L. Joskowiz , M. Shoham , R. Vivanti, E. De Momi Validation of a stereo camera system to quantify brain deformation due to breathing and pulsatility, Medical Physics, 2014

A.E. Forte, S. Galvan, F. Manieri, D. Dini, A Novel Composite Phantom for Brain Tissue, Annual International IEEE EMBS Conference, Accepted, 2014

C. Hennersperger, D. Mateus, M. Baust, N. Navab, A Quadratic Energy Minimization Framework for Signal Loss Estimation from Arbitrarily Sampled Ultrasound Data, International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Boston, USA, Sept. 2014

S. A. Bowyer, F. Rodriguez Y Baena, Dynamic frictional constraints in traslation and rotation, In Proceedings of the International Conference on Robotics and Automation (ICRA), Hong Kong, China, June 2014.

M. D. Comparetti, E. Beretta, M. Kunze, E. De Momi, J. Raczkowsky, and G. Ferrigno, "Event-based device-behavior switching in surgical human-robot interaction," Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp.1877,1882, May 31 2014-June 7 2014

J. G. Petersen, F. Rodriguez y Baena, Mass and inertia optimization for natural motion in hands-on robotic surgery, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Accepted, 2014.

R. Vivanti, L. Joskowicz, O. Sadowsky, M. Shoham,Tracking and Reconstruction of Brain Deformation with a Stereo Camera, Department Seminar, Azrieli College in Jerusalem, 22 January 2014

TECHNION, Tracking and Reconstruction of Brain Deformation with a Stereo Camera, Department Seminar, Azrieli College in Jerusalem, 22 January 2014.

S. A. Bowyer, B. L. Davies, and F. Rodriguez y Baena, Active constraints/virtual fixtures: A survey, IEEE Transactions on Robotics, vol. 30, no. 1, pp. 138–157, Feb. 2014

F. Panzica, G. Varotto, F. Rotondi, R. Spreafico, S. Franceschetti, Identification of the epileptogenic zone from stereo-EEG signals: a connectivity-graph theory approach, Frontiers in Neurology, 06 November 2013, V. 4, Art.175.

D. De Lorenzo, E. De Momi, L. Conti, E. Votta, M. Riva, E. Fava, L. Bello and G. Ferrigno Intraoperative forces and moments analysis on patient head clamp during awake brain surgery Medical & Biological Engineering & Computing, 2013 Mar; 51(3):331-341. Online

D. Prattichizzo, F. Chinello, C. Pacchierotti, M. Malvezzi, Towards Wearability in Fingertip Haptics: A 3-DoF Wearable Device for Cutaneous Force Feedback, IEEE Transaction on Haptics, 506-516

A. Vaccarella, E. De Momi, A. Enquobahrie, G. Ferrigno Unscented Kalman Filter Based Sensor Fusion for Robust Optical and Electromagnetic Tracking in Surgical Navigation., IEEE Transactions on Instrumentation and Measurement, 2013 Jul; 62 (7): 2067-2081.

M. Malosio, S.P. Negri, N. Pedrocchi, F. Vicentini and L. Molinari Tosatti, A 3T2R Parallel and Partially Decoupled Kinematic Architecture, Intelligent Robots and Systems (IROS), 2013 IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 444-449, 3-7 November 2013.

J. G. Petersen, F. Rodriguez y Baena, Dynamic Active Constraints Approach for Hands-On Robotic Surgery, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 1966-1971, 3-7 November 2013.

R. Vivanti, O. Sadowsky, M. Shoham, L. Joskowicz, Brain surface tissue deformation tracking in craniotomies, 6th Hamlyn symposium on medical robotics, pp.35-37, 22-25 June 2013

Refael Vivanti, Leo Joskowicz, Ofri Sadowsky, Moshe Shoham, Brain surface Tissue Deformation Tracking in Craniotomies, The 4th Israeli Conference on Robotics 2013, 20 November 2013.

S. A. Bowyer, F. Rodriguez y Baena Dynamic frictional constraints for robot assisted surgery, World Haptics Conference (WHC), 2013, pp.319-324, 14-17 April 2013.

Tim Beyl, Luzie Schreiter, Jörg Raczkowsky, Heinz Wörn, Ein prozessbasiertes Controllerkonzept zur Steuerung eines digitalen OP-Saals am Beispiel von OP:Sense, CURAC, 28-29 November 2013.

W. Wein, A. Ladikos, B. Fuerst, A. Shah, K. Sharma, N. Navab, Global Registration of Ultrasound to MRI using the LC2 Metric for Enabling Neurosurgical Guidance, Proceedings of the 16th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Nagoya, Japan, Sept. 2013

C. Pacchierotti, A. Tirmizi, G. Bianchini, D. Prattichizzo, Improving Transparency in Passive Teleoperation by Combining Cutaneous and Kinesthetic Force Feedback, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 4958-4963, 3-7 November 2013.

T. Beyl, P.Nicolai, J.Raczkowsky, M. D. Comparetti, E. De Momi, H. Wörn
Multi Kinect People Detection for Intuitive and Safe Human Robot Cooperation in the Operating Room, International Conference on Advanced Robotics, 2013.

Gonen T., Shapira-Lichter I., Perry D., Gazit T., Hendler T., Ram Z, Multi-modal segregation of neural langauge networks, Israeli Brain Technologies, 14 -15 October 2013.

G. Salvietti, L. Meli, G. Gioioso, M. Malvezzi, D. Prattichizzo. Object-based Bilateral Telemanipulation Between Dissimilar Kinematic Structures, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 5451-5456, 3-7 November 2013.

A. Tirmizi, C. Pacchierotti, D. Prattichizzo, On the role of cutaneous force in teleoperation: subtracting kinesthesia from complete haptic feedback, World Haptics Conference (WHC), 2013, pp.371-376, 14-17 April 2013.

E. Beretta, D. De Lorenzo, F. Cardinale, M. Riva, M. D. Comparetti, M. Kunze, G. Ferrigno and E. De Momi, Preliminary applicability study of a LWR4+ for brain mapping tasks during robotic neurosurgical interventions Preliminary applicability study of a LWR4+ for brain, IEEE International Conference on Robotics and Automation - Workshop, 6-10 May 2013

A. Ramos Peon, D. Prattichizzo Reaction times to constraint violation in haptics: comparing vibration, visual and audio stimuli, World Haptics Conference (WHC), 2013, pp.657-661, 14-17 April 2013.

R. Vivanti, Leo Joskowicz, O. Sadowsky, M. Shoham, Robust surface brain tissue deformation tracking in open craniotomies, Computer Assisted Radiology and Surgery, International Congress and Exhibition, 27 June 2013.

Petersen J.G., Rodriguez y Baena F., Shared Control for Hands-On Robotic Surgery, 2013 IEEE International Conference on Intelligent Robots and Systems (IROS), Workshop on Cognitive Surgical Robotics, 03-08 November 2013.

A. S. Proesch, S. Bowyer and  F. Rodriguez y Baena, Smooth active constraints employed for position and force control in robot assisted surgery, 6th Hamlyn symposium on medical robotics, pp.49-50, 22-25 June 2013

TASMC, State of the art and Future Brain Technologies, Israeli Brain Technologies, 14-15 October 2013.

P. Nicolai, T. Brennecke, M. Kunze, L. Schreiter, T. Beyl, Y. Zhang, J. Mintenbeck, J. Raczkowsky, H. WörnThe, The OP:Sense Surgical Robotics Platform – First Feasibility Studies and Current Research, International Journal of Computer Assisted Radiology and Surgery, 2013, pp. 136-137

A. Ramos Peon, C. Pacchierotti, D. Prattichizzo, Vibrotactile stimuli for augmented haptic feedback in robot-assisted surgery, World Haptics Conference (WHC), 2013, pp.473-478, 14-17 April 2013.

R. Vivanti, L. Joskowicz, O. Sadowsky, M. Shoham, Brain surface Tissue Deformation Tracking in Craniotomies, The 4th Israeli Conference on Robotics 2013, 20 November 2013

S. Bowyer, Active constraints in unstructured environments, The Hamlyn symposium on medical robotics, The royal academy of Engineering, London, UK, 25 June 2013.

F. Rodriguez y Baena, An Overview of Surgical Robotics in the Mechatronics in Medicine Laboratory, Cardiff University Lecture Series, 2 February 2013.

R. Vivanti, L. Joskowicz, O. Sadowsky, M. Shoham, Brain Tissue Deformation Tracking With A Paraboloid Model For Outlier Detection, ISBI 2013 Conference, 8-11 April 2013.

T. Beyl, Cooperative control of surgical robots, Hamlyn symposium, 22-25 June 2013.

Talma Hendler, Dual Array EEG-fMRI for noninvasive mapping of epileptic networks, Brain Mapping in Neurosurgery, 3 July 2013.

D. Dini, Modelling complexity in Tribology: intrinsically multi-physics, undoubtedly multi-scale, University of Cardiff - Invited speakers seminar series, 25 June 2013.

T. Beyl, P. Nicolai, M. D. Comparetti, E. De Momi, J. Raczkowsky, H. Wörn, Multi Kinect People Detection for Intuitive and Safe Human Robot Cooperation in the Operating Room, ICAR 2013 International Conference on Advanced Robotics, pp.136-137, 24-29 November 2013

R.Vivanti, L. Joskowicz, O. Sadowsky, M. Shoham, Robust surface brain tissue deformation tracking in open craniotomies, Computer Assisted Radiology and Surgery, International Congress and Exhibition, 27 June 2013

J.G. Petersen and F. Rodriguez y Baena, Shared control for hands-on robotic surgery, IEEE International Conference on Intelligent Robots and Systems - Workshop on Cognitive Surgical Robotics: From Virtual Fixtures to Advanced Cooperative Control, 7 November 2013.

G. Varotto, L. Tassi, S. Franceschetti, R. Spreafico, F. Panzica Epileptogenic networks of type II focal cortical dysplasia: A stereo- EEG study Neuroimage. 2012 Jul 2;61(3):591-8. Epub 2012 Apr 6

M. D. Comparetti, A. Vaccarella, I. Dyagilev, M. Shoham, G. Ferrigno and E. De Momi Accurate multi-robot targeting for keyhole neurosurgery based on external sensors monitoring Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine Vol. 226(5): 347-359.

E. De Momi, C. Caborni, F. Cardinale, L. Castana, G. Casaceli, M. Cossu, L. Antiga, and G. Ferrigno "Automatic trajectory planner for StereoElectroEncephaloGraphy procedures: a retrospective study" , IEEE Trans Biomed Eng. 2012 Dec 4

D. Prattichizzo, C. Pacchierotti, and G. Rosati Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics IEEE Transactions on Haptics, 2012. In press.

A. Karamalis, W. Wein, T. Klein, N. Navab Ultrasound Confidence Maps using Random Walks Medical Image Analysis 16(6): 1101-1112, 2012

A. Vaccarella, E. De Momi, A. Enquobahrie, G. Ferrigno Unscented Kalman Filter based sensor fusion for robust optical and electromagnetic tracking in surgical navigation, IEEE Transactions on Instrumentation and Measurements, 2012. Accepted for publication.

T. Beyl, P. Nicolai, J.Raczkowksy, H.Wörn, A concept for safe human robot cooperation in surgical applications based on 3D sensing, IROS 2012, 7-12 October 2012.

F. Chinello, M.Malvezzi, C. Pacchierotti, and D.Prattichizzo A three DoFs wearable tactile display for exploration and manipulation of virtual objects In Haptics Symposium (HAPTICS), 2012 IEEE, Pages 71-76, Vancouver, Canada, March 2012.

C. Caborni, E. De Momi, L. Antiga, A. Hammoud, G. Ferrigno, F. Cardinale Automatic trajectory planning in Stereo-electroencephalography image guided neurosurgery Proceedings of Computer Assisted Radiology and Surgery Conference - Proceedings of Int J of Computer Assisted Radiology and Surgery (CARS 2012) 7 (Suppl 1): S126 - S128.

C. Pacchierotti, F. Chinello and D. Prattichizzo Cutaneous device for teleoperated needle insertion In Proc. IEEE Int. Conf. on Biomedical Robotics and Biomechatronics. Surgical Robotics Symposium, Pages 32-37, Rome, Italy, 2012.

D. Prattichizzo, C. Pacchierotti, G. Rosati, Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics, IEEE Transaction on Haptics Conference, pp. 289-300, 27 November 2013.

O. Pauly, A. Ahmadi, A. Plate, K. Boetzel, N. Navab Detection of Substantia Nigra Echogenicities in 3D Transcranial Ultrasound for Early Diagnosis of Parkinson Disease Proceedings of the 15th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), 2012. In press.

T. Beyl, P. Nicolai, J.Raczkowksy, H.Wörn, Ein Kinect basiertes Überwachungssystem für Workflowerkenung und Gestensteuerung im Operationssaal, CURAC, 15-16 November 2012.

P. Waelkens, A. Ahmadi, N. Navab Frangi goes US : Multiscale Tubular Structure Detection adapted to 3D Ultrasound Proceedings of the 15th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), 2012. In press.

T. Klein, M. Hansson, N. Navab, Modeling of Multi-View 3D Freehand Radio Frequency Ultrasound, Proceedings of the 15th International Conference on Medical Image Computing and Computer Assisted Intervention, pp.422 - 429, 1-5 October 2012.

F. Vicentini, La robotica per la neurochirurgia: l'esempio del progetto Active, Medical and Assistive Robots for disabled people, 8 November 2012.

T. Klein, M. Hansson, N. Navab Registration of RF Ultrasound Data using Hybrid Local Binary Patterns IEEE International Symposium on Biomedical Imaging (ISBI), 2012. In press.

A.Ahmadi, T. Klein, A. Plate, K. Boetzel, N. Navab Rigid US-MRI Registration Through Segmentation of Equivalent Anatomic Structures - A feasibility study using 3D transcranial ultrasound of the midbrain BVM 2012 (Bildverarbeitung für die Medizin, Image Processing for Medicine), 2012. In press.

M.D. Comparetti, E. De Momi, D. De Lorenzo, T. Beyl, J. Raczkowsky, G. Ferrigno Safe surgical robotic system and workflow design in the ACTIVE project for awake neurosurgery Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1-4, 2012.

M. Malosio, S.P. Negri, N. Pedrocchi, F. Vicentini, F. Cardinale and L. Molinari Tosatti The kinematic architecture of the Active Headframe: a new head support for awake brain surgery. IEEE International Conference of the Engineering and Medicine & Biology Society (EMBS), p: 1417-1421, August 2012.

C. Pacchierotti, F. Chinello, M. Malvezzi, L. Meli and D. Prattichizzo Two finger grasping simulation with cutaneous and kinesthetic force feedback In Haptics: Perception, Devices, Mobility, and Communication. Eurohaptics 2012, Lecture Notes in Computer Science, Pages 373-382, Tampere, Finland, 2012.

J. Beitzel, A. Ahmadi, A. Karamalis, W. Wein, N. Navab Ultrasound Bone Detection Using Patient-Specific CT Prior International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2012. In press.

A. Vaccarella, A. Enquobahrie, E. De Momi, G. Ferrigno Unscented Kalman filter for robust optical tracking within the IGSTK framework Proceedings of Computer Assisted Radiology and Surgery Conference - Proceedings of Int J of Computer Assisted Radiology and Surgery (CARS 2012) 7: (Suppl 1): S163 - S164.

F. Rodriguez y Baena, An Overview of Surgical Robotics in the Mechatronics in Medicine Laboratory, RRI Seminar, Chonnam National University Gwangju, Korea, 28 November 2012.

F. Rodriguez y Baena, An Overview of Surgical Robotics in the Mechatronics in Medicine Laboratory, The 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2012, Daejeon, Korea), 27 November 2012.

F. Rodriguez y Baena, An Overview of Robotics in Neurosurgery and the STING Case Study, South Yorkshire – Robotics & Mechatronics Professional Network Joint Meeting, Sheffield, UK, 15 November 2012.

M. Malosio, S. P. Negri, N. Pedrocchi, L. Molinari Tosatti and F. Vicentini, Dispositivo per il supporto e la regolazione della posizione della testa di un paziente durante interventi chirurgici, Italian Patent MI2012A001378, Aug. 3, 2012.

R. Manganelli, F. Chinello, A. Formaglio, D. Prattichizzo A teleoperation system fro microinvasive brain surgery Journal of behavioral Robotics 1(4):198-203, 2011

C. Wachinger, T. Klein, N. Navab Locally adaptive Nakagami-based ultrasound similarity measures Journal Ultrasonics 52(4): 547-554, 2011.

G. Ferrigno, G. Baroni, F. Casolo, E. De Momi, G. Gini, M. Matteucci, A. Pedrocchi Medical Robotics IEEE PULSE 2:3, 55-61, 2011.

A. Ahmadi, M. Baust, A. Karamalis, A. Plate, K. Boetzel, T. Klein, N. Navab Midbrain Segmentation in Transcranial 3D Ultrasound for Parkinson Diagnosis Med Image Comput Assist Interv 2011; 14(Pt3): 363-369.

C. Wachinger, T. Klein, N. Navab The 2D Analytic Signal on RF and B-mode Ultrasound Images Information Processing in Medical Imaging (IPMI) 22: 359-370, 2011.

S. Bowyer and F. Rodriguez y Baena A Research Platform for Active Constraints in Robotic Neurosurgery In proceedings of the Hamlyn Symposium on Medical Robotics, p. 53-54, 2011.

H. Monnich, P. Nicolai, J. Raczkowsky, H. Worn A Semi-Autonomous Robotic Teleoperation Surgery Setup with Multi 3D Camera Supervision Proceedings of International Journal of Computer Assisted Radiology and Surgery (CARS 2011) :132-133, 2011.

H. Mönnich, Philip Nicolai, T. Beyl, J. Raczkowsky, H. Wörn OP: Sense Eine Rapid Development Umgebung für die Entwicklung in der robotergestützten Chirurgie CURAC Deutsche Gesellschaft fur Computer und Roboterassistierte Chirurgie e.V. Jahrestagung, Magdeburg (Germany), September 2011.

V. Frati, A. Ramos, D. Prattichizzo Using Kinect for hand tracking and rendering in wearable haptics World Haptics Conference, Poster presentation, Istanbul, Turkey, June 2011.