To achieve a seamless human-robot collaboration, it is crucial that robots express their intentio... more To achieve a seamless human-robot collaboration, it is crucial that robots express their intentions without perturbating or interrupting the task that a human partner is performing at that moment. Although it has not received much attention so far, this issue is important when robots assist humans in physical and manipulation tasks. The main question addressed here is whether there is a more appropriate time to inform a human partner that a robot is requesting to pass them an object. This question is posed in a reference scenario where human individuals are involved in a continuous pick-and-place task that cannot be interrupted. Our findings showed that providing a cue at the beginning of a reach-to-grasp movement could severely interfere with the ongoing human action, increasing the number of errors made by humans, slowing down and degrading the smoothness of their arm movement, and deflecting their gaze. These disruptive interferences strongly decreased, until they disappeared, when the robot provided the cue to the human partners shortly after the participants picked up an object, identifying this as the best signaling timing. The results of this work showed how the signaling timing may have a decisive influence on the performances of the human-robot teamwork and contribute to understanding the mechanisms underpinning the phenomenon of cognitive-motor interference in humans.
2013 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2013
ABSTRACT Multigate Quality Doppler Profiles (QDP) is a Fast Fourier Transform-based Doppler techn... more ABSTRACT Multigate Quality Doppler Profiles (QDP) is a Fast Fourier Transform-based Doppler technology recently integrated in a commercial ultrasound scanner. QDP represents a novel analysis tool, which is able to simultaneously detect and show the velocity components, present in the blood flow of multiple vessels, without any frame rate reduction. The present work describes QDP application to the measurement of Internal Carotid Artery stenosis (i.e. vessel lumen reduction due to plaque formation). Measurements were performed in vitro on a Doppler Phantom and in vivo in comparison to Computed Tomography Angiography. The results confirmed QDP as a proper tool for the NASCET index measurement, more precise and robust than the traditional Ultrasound modalities used so far.
Recent achievements in active capsule endoscopy have allowed controlled inspection of the bowel b... more Recent achievements in active capsule endoscopy have allowed controlled inspection of the bowel by magnetic guidance. Capsule localization represents an important enabling technology for such kind of platforms. In this paper, the authors present a localization method, applied as first step in time-discrete capsule position detection, that is useful for establishing a magnetic link at the beginning of an endoscopic procedure or for re-linking the capsule in the case of loss due to locomotion. The novelty of this approach consists in using magnetic sensors on board the capsule whose output is combined with pre-calculated magnetic field analytical model solutions. A magnetic field triangulation algorithm is used for obtaining the position of the capsule inside the gastrointestinal tract. Experimental validation has demonstrated that the proposed procedure is stable, accurate and has a wide localization range in a volume of about 18 × 10 3 cm 3 . Position errors of 14 mm along the X direction, 11 mm along the Y direction and 19 mm along the Z direction were obtained in less than 27 s of elaboration time. The proposed approach, being compatible with magnetic fields used for locomotion, can be easily extended to other platforms for active capsule endoscopy.
Background Despite being considered the most effective method for colorectal cancer diagnosis, co... more Background Despite being considered the most effective method for colorectal cancer diagnosis, colonoscopy takeup as a mass-screening procedure is limited mainly due to invasiveness, patient discomfort, fear of pain, and the need for sedation. In an effort to mitigate some of the disadvantages associated with colonoscopy, this work provides a preliminary assessment of a novel endoscopic device consisting in a softly tethered capsule for painless colonoscopy under robotic magnetic steering. Methods The proposed platform consists of the endoscopic device, a robotic unit, and a control box. In contrast to the traditional insertion method (i.e., pushing from behind), a ''front-wheel'' propulsion approach is proposed. A compliant tether connecting the device to an external box is used to provide insufflation, passing a flexible operative tool, enabling lens cleaning, and operating the vision module. To assess the diagnostic and treatment ability of the platform, 12 users were asked to find and remove artificially implanted beads as polyp surrogates in an ex vivo model. In vivo testing consisted of a qualitative study of the platform in pigs, focusing on active locomotion, diagnostic and therapeutic capabilities, safety, and usability. Results The mean percentage of beads identified by each user during ex vivo trials was 85 ± 11%. All the identified beads were removed successfully using the polypectomy loop. The mean completion time for accomplishing the entire procedure was 678 ± 179 s. No immediate mucosal damage, acute complications such as perforation, or delayed adverse consequences were observed following application of the proposed method in vivo. Conclusions Use of the proposed platform in ex vivo and preliminary animal studies indicates that it is safe and operates effectively in a manner similar to a standard colonoscope. These studies served to demonstrate the platform's added advantages of reduced size, front-wheel drive strategy, and robotic control over locomotion and orientation.
The hypothesis that MS could be provoked by a derangement of the blood outflow from the brain has... more The hypothesis that MS could be provoked by a derangement of the blood outflow from the brain has been largely discredited. In part, it was because data on the normal pattern of outflow are scarce and obtained with different methods. The aim of this study was to evaluate the normal pattern of outflow for the vertebral and internal jugular veins in healthy subjects with multigate color Doppler. Twenty-five volunteers were studied to assess vessel area, mean velocity, and flow for the vertebral and internal jugular veins in the supine and sitting positions. In the sitting position, flow decreases, both in vertebral veins and internal jugular veins, as the total vessel area decreases (from 0.46 ± 0.57 to 0.09 ± 0.08 cm(2)), even if the mean velocity increases (from 12.58 ± 10.19 to 24.14 ± 17.60 cm/s). Contrary to what happens to the blood inflow, outflow in the supine position, through vertebral and internal jugular veins, is more than twice the outflow in the sitting position (739.80 ± 326.32 versus 278.24 ± 207.94 mL/min). In the sitting position, on application of very low pressure to the skin with the sonography probe, internal jugular veins rarely appear to occlude. A pronounced difference of diameter between internal jugular veins was present in approximately one-third of subjects. Our results support the view that other outflow pathways, like the vertebral plexus, play a major role in the normal physiology of brain circulation and must be assessed to obtain a complete picture of blood outflow.
This index covers all technical items-papers, correspondence, reviews, etc.-that appeared in this... more This index covers all technical items-papers, correspondence, reviews, etc.-that appeared in this periodical during the year, and items from previous years that were commented upon or corrected in this year. Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name. The primary entry includes the co-authors' names, the title of the paper or other item, and its location, specified by the ...
To achieve a seamless human-robot collaboration, it is crucial that robots express their intentio... more To achieve a seamless human-robot collaboration, it is crucial that robots express their intentions without perturbating or interrupting the task that a human partner is performing at that moment. Although it has not received much attention so far, this issue is important when robots assist humans in physical and manipulation tasks. The main question addressed here is whether there is a more appropriate time to inform a human partner that a robot is requesting to pass them an object. This question is posed in a reference scenario where human individuals are involved in a continuous pick-and-place task that cannot be interrupted. Our findings showed that providing a cue at the beginning of a reach-to-grasp movement could severely interfere with the ongoing human action, increasing the number of errors made by humans, slowing down and degrading the smoothness of their arm movement, and deflecting their gaze. These disruptive interferences strongly decreased, until they disappeared, when the robot provided the cue to the human partners shortly after the participants picked up an object, identifying this as the best signaling timing. The results of this work showed how the signaling timing may have a decisive influence on the performances of the human-robot teamwork and contribute to understanding the mechanisms underpinning the phenomenon of cognitive-motor interference in humans.
2013 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2013
ABSTRACT Multigate Quality Doppler Profiles (QDP) is a Fast Fourier Transform-based Doppler techn... more ABSTRACT Multigate Quality Doppler Profiles (QDP) is a Fast Fourier Transform-based Doppler technology recently integrated in a commercial ultrasound scanner. QDP represents a novel analysis tool, which is able to simultaneously detect and show the velocity components, present in the blood flow of multiple vessels, without any frame rate reduction. The present work describes QDP application to the measurement of Internal Carotid Artery stenosis (i.e. vessel lumen reduction due to plaque formation). Measurements were performed in vitro on a Doppler Phantom and in vivo in comparison to Computed Tomography Angiography. The results confirmed QDP as a proper tool for the NASCET index measurement, more precise and robust than the traditional Ultrasound modalities used so far.
Recent achievements in active capsule endoscopy have allowed controlled inspection of the bowel b... more Recent achievements in active capsule endoscopy have allowed controlled inspection of the bowel by magnetic guidance. Capsule localization represents an important enabling technology for such kind of platforms. In this paper, the authors present a localization method, applied as first step in time-discrete capsule position detection, that is useful for establishing a magnetic link at the beginning of an endoscopic procedure or for re-linking the capsule in the case of loss due to locomotion. The novelty of this approach consists in using magnetic sensors on board the capsule whose output is combined with pre-calculated magnetic field analytical model solutions. A magnetic field triangulation algorithm is used for obtaining the position of the capsule inside the gastrointestinal tract. Experimental validation has demonstrated that the proposed procedure is stable, accurate and has a wide localization range in a volume of about 18 × 10 3 cm 3 . Position errors of 14 mm along the X direction, 11 mm along the Y direction and 19 mm along the Z direction were obtained in less than 27 s of elaboration time. The proposed approach, being compatible with magnetic fields used for locomotion, can be easily extended to other platforms for active capsule endoscopy.
Background Despite being considered the most effective method for colorectal cancer diagnosis, co... more Background Despite being considered the most effective method for colorectal cancer diagnosis, colonoscopy takeup as a mass-screening procedure is limited mainly due to invasiveness, patient discomfort, fear of pain, and the need for sedation. In an effort to mitigate some of the disadvantages associated with colonoscopy, this work provides a preliminary assessment of a novel endoscopic device consisting in a softly tethered capsule for painless colonoscopy under robotic magnetic steering. Methods The proposed platform consists of the endoscopic device, a robotic unit, and a control box. In contrast to the traditional insertion method (i.e., pushing from behind), a ''front-wheel'' propulsion approach is proposed. A compliant tether connecting the device to an external box is used to provide insufflation, passing a flexible operative tool, enabling lens cleaning, and operating the vision module. To assess the diagnostic and treatment ability of the platform, 12 users were asked to find and remove artificially implanted beads as polyp surrogates in an ex vivo model. In vivo testing consisted of a qualitative study of the platform in pigs, focusing on active locomotion, diagnostic and therapeutic capabilities, safety, and usability. Results The mean percentage of beads identified by each user during ex vivo trials was 85 ± 11%. All the identified beads were removed successfully using the polypectomy loop. The mean completion time for accomplishing the entire procedure was 678 ± 179 s. No immediate mucosal damage, acute complications such as perforation, or delayed adverse consequences were observed following application of the proposed method in vivo. Conclusions Use of the proposed platform in ex vivo and preliminary animal studies indicates that it is safe and operates effectively in a manner similar to a standard colonoscope. These studies served to demonstrate the platform's added advantages of reduced size, front-wheel drive strategy, and robotic control over locomotion and orientation.
The hypothesis that MS could be provoked by a derangement of the blood outflow from the brain has... more The hypothesis that MS could be provoked by a derangement of the blood outflow from the brain has been largely discredited. In part, it was because data on the normal pattern of outflow are scarce and obtained with different methods. The aim of this study was to evaluate the normal pattern of outflow for the vertebral and internal jugular veins in healthy subjects with multigate color Doppler. Twenty-five volunteers were studied to assess vessel area, mean velocity, and flow for the vertebral and internal jugular veins in the supine and sitting positions. In the sitting position, flow decreases, both in vertebral veins and internal jugular veins, as the total vessel area decreases (from 0.46 ± 0.57 to 0.09 ± 0.08 cm(2)), even if the mean velocity increases (from 12.58 ± 10.19 to 24.14 ± 17.60 cm/s). Contrary to what happens to the blood inflow, outflow in the supine position, through vertebral and internal jugular veins, is more than twice the outflow in the sitting position (739.80 ± 326.32 versus 278.24 ± 207.94 mL/min). In the sitting position, on application of very low pressure to the skin with the sonography probe, internal jugular veins rarely appear to occlude. A pronounced difference of diameter between internal jugular veins was present in approximately one-third of subjects. Our results support the view that other outflow pathways, like the vertebral plexus, play a major role in the normal physiology of brain circulation and must be assessed to obtain a complete picture of blood outflow.
This index covers all technical items-papers, correspondence, reviews, etc.-that appeared in this... more This index covers all technical items-papers, correspondence, reviews, etc.-that appeared in this periodical during the year, and items from previous years that were commented upon or corrected in this year. Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name. The primary entry includes the co-authors' names, the title of the paper or other item, and its location, specified by the ...
Uploads
Papers by G. Ciuti