@article{CondIJMRCAS2010, author = {Condino, S and Carbone, M. and Ferrari, V. and Ferrari, M. and Mosca, F.}, title = {Building patient specific synthetic abdominal anatomies. An innovative approach for surgical simulators from physical toward hybrid}, journal = {submitted to The International Journal of Medical Robotics and Computer Assisted Surgery}, year = {2010} } @article{CondCARS2010, author = {Condino, S and Freschi, C. and Ferrari, V. and Berchiolli, R. and Mosca, F. and Ferrari, M.}, title = {Electromagnetic navigation system for endovascular surgery}, journal = {Proceedings of the International Congress and Exhibition. IJCARS Volume 5, Supplement 1 / June}, year = {2010} } @phdthesis{FerPdhThesis2009, author = {Ferrari, V.}, title = {Phd Thesis. Improving daily clinical practice with abdominal patient specific 3D models}, university = {University of Pisa}, type = {Phd}, year = {2009} } @article{FerCARS2008, author = {Ferrari, V. and Cappelli, C. and Megali, G. and Pietrabissa, A.}, title = {An anatomy driven approach for generation of 3D models from multi-phase CT images}, journal = {Proceedings of the International Congress and Exhibition. IJCARS Volume 3, Supplement 1 / June}, year = {2008} } @article{FerCARS2010, author = {Ferrari, V. and Carbone, M. and Cappelli, C. and Boni, L. and Cuschieri, A. and Pietrabissa, A. and Mosca, F.}, title = {Improvements of MDCT images segmentation for surgical planning in general surgery - practical examples}, journal = {Proceedings of the International Congress and Exhibition. IJCARS Volume 5, Supplement 1 / June}, year = {2010} } @inproceedings{FerECR2010, author = {Ferrari, V. and Freschi, C. and Megali, G. and Caramella, D. and Pietrabissa, A. and Mosca, F.}, title = {Research and clinical application of Computer Assisted Surgery technologies at EndoCAS. }, booktitle = {ECR Today 2010- Daily Congress Newspaper}, year = {2010} } @inproceedings{FerrariBioIng2008, author = {Ferrari, V. and Megali, G. and Cappelli, C. and Pietrabissa, A.}, title = {Introduction of abdominal patient specific virtual models in daily clinical practice}, booktitle = {Primo Congresso Nazionale di Bioingegneria}, address = {Pisa}, year = {2008} } @inproceedings{FerrariV2007ImpDaClPr, author = {Ferrari, V. and Megali, G. and Cappelli, C. and Troia, E. and Cavallo, F. and Pietrabissa, A.}, title = {Improving daily clinical practice with 3D patient-specific anatomical models: limits, methodologies and our experience}, booktitle = {6th International Conference on the Management of Healthcare and Medical Technology - HCTM}, abstract = {In today clinical practice radiologists and surgeons make diagnosis and establish therapies on the basis of a “mental model” of the specific anatomy of the patient that they create starting from the information given by pre-operative exams (consisting in volumetric data examined as sequences of 2D images) and their anatomical knowledge. Current technologies give the possibility to visualize volumetric medical dataset, such as computer tomography (CT) and magnetic resonance (MRI), with 3D virtual models of anatomical structures. This kind of visualization permits an easy and natural understanding of anatomical structures described by the images, avoids interpretation error of the exams, and allows a clear communication between the radiological and the therapeutic departments. Further, the introduction of this 3D virtual representation of the patient anatomy inside the operative room, will lead to a revolution of the surgical scenario due to the development of image-guided and robotic systems. Visualization of 3D patient specific anatomical models offers great benefits for the physicians, in terms of improved diagnosis, surgical planning and surgical intervention, for the patients, in terms of safety and reduced invasiveness, and for the sanitary system in terms of efficiency and financial resource (due to less errors and reduced intervention time). In the paper we describe our experience in the adoption of these techniques in the treatment of abdominal organs and we provide an overview of solutions and of the methodological approach we followed in the development of a navigation system for laparoscopic surgery in the abdominal district.}, year = {2007} } @article{FerCARS2009, author = {Ferrari, V. and Megali, G. and Pietrabissa, A. and Mosca, F.}, title = {Laparoscope 3D auto-localization}, journal = {Proceedings of the International Congress and Exhibition. IJCARS Volume 4, Supplement 1 / June}, year = {2009} } @article{FerrariMixed, author = {Ferrari, V. and Megali, G. and Troia, E. and Pietrabissa, A. and Mosca, F.}, title = {A 3-D mixed-reality system for stereoscopic visualization of medical dataset}, journal = {IEEE Trans Biomed Eng}, volume = {56}, number = {11}, pages = {2627-33}, note = {Ferrari, Vincenzo Megali, Giuseppe Troia, Elena Pietrabissa, Andrea Mosca, Franco Research Support, Non-U.S. Gov't United States IEEE transactions on bio-medical engineering IEEE Trans Biomed Eng. 2009 Nov;56(11):2627-33. Epub 2009 Jul 31.}, abstract = {We developed a simple, light, and cheap 3-D visualization device based on mixed reality that can be used by physicians to see preoperative radiological exams in a natural way. The system allows the user to see stereoscopic "augmented images," which are created by mixing 3-D virtual models of anatomies obtained by processing preoperative volumetric radiological images (computed tomography or MRI) with real patient live images, grabbed by means of cameras. The interface of the system consists of a head-mounted display equipped with two high-definition cameras. Cameras are mounted in correspondence of the user's eyes and allow one to grab live images of the patient with the same point of view of the user. The system does not use any external tracker to detect movements of the user or the patient. The movements of the user's head and the alignment of virtual patient with the real one are done using machine vision methods applied on pairs of live images. Experimental results, concerning frame rate and alignment precision between virtual and real patient, demonstrate that machine vision methods used for localization are appropriate for the specific application and that systems based on stereoscopic mixed reality are feasible and can be proficiently adopted in clinical practice.}, keywords = {Artificial Intelligence *Computer Graphics Humans Image Processing, Computer-Assisted/*methods Imaging, Three-Dimensional/*methods Magnetic Resonance Imaging Phantoms, Imaging Surgery, Computer-Assisted/methods Tomography, X-Ray Computed *User-Computer Interface Video Recording}, year = {2009} } @article{FreschiEMBS, author = {Freschi, C. and Troia, E. and Ferrari, V. and Megali, G. and Pietrabissa, A. and Mosca, F.}, title = {Ultrasound guided robotic biopsy using augmented reality and human-robot cooperative control}, journal = {Conf Proc IEEE Eng Med Biol Soc}, volume = {2009}, pages = {5110-3}, note = {Freschi, C Troia, E Ferrari, V Megali, G Pietrabissa, A Mosca, F Research Support, Non-U.S. Gov't United States Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference Conf Proc IEEE Eng Med Biol Soc. 2009;2009:5110-3.}, abstract = {Ultrasound-guided biopsy is a proficient mininvasive approach for tumors staging but requires very long training and particular manual and 3D space perception abilities of the physician, for the planning of the needle trajectory and the execution of the procedure. In order to simplify this difficult task, we have developed an integrated system that provides the clinician two types of assistance: an augmented reality visualization allows accurate and easy planning of needle trajectory and target reaching verification; a robot arm with a six-degree-of-freedom force sensor allows the precise positioning of the needle holder and allows the clinician to adjust the planned trajectory (cooperative control) to overcome needle deflection and target motion. Preliminary tests have been executed on an ultrasound phantom showing high precision of the system in static conditions and the utility and usability of the cooperative control in simulated no-rigid conditions.}, keywords = {Biopsy/*methods Calibration Cooperative Behavior Humans Needles Robotics/*methods Ultrasonography/*methods}, year = {2009} } @inproceedings{Lisanti2010, author = {Lisanti, M. and Parchi, P. and Andreani, L. and Ferrari, V. and Condino, S. and Moglia, A. and Ferrari, M. and Mosca, F.}, title = {Use of CT segmentation, rapid prototyping and virtual procedure simulation in difficult cases of hip replacement surgery}, booktitle = {Annual Meeting of CAOS-International}, year = {2010} } @article{MegaliNavi2008, author = {Megali, G. and Ferrari, V. and Freschi, C. and Morabito, B. and Cavallo, F. and Turini, G. and Troia, E. and Cappelli, C. and Pietrabissa, A. and Tonet, O. and Cuschieri, A. and Dario, P. and Mosca, F.}, title = {EndoCAS navigator platform: a common platform for computer and robotic assistance in minimally invasive surgery}, journal = {The International Journal of Medical Robotics and Computer Assisted Surgery}, volume = {4}, pages = {242 - 251}, year = {2008} } @article{MogliaCapsule, author = {Moglia, A. and Pietrabissa, A. and Cuschieri, A.}, title = {Capsule endoscopy}, journal = {BMJ}, volume = {11}, pages = {339}, year = {2009} } @inproceedings{MogliaMMVR2011, author = {Moglia, A. and Turini, G. and Ferrari, V. and Ferrari, M. and Mosca, F.}, title = {Patient Specific Surgical Simulator for the Evaluation of the Movability of Bimanual Robotic Arms}, booktitle = {Medicine Meets Virtual Reality Conference}, note = {To be appear}, year = {2011} } @article{PietrabAneu, author = {Pietrabissa, A. and Ferrari, M. and Berchiolli, R. and Morelli, L. and Pugliese, L. and Ferrari, V. and Mosca, F.}, title = {Laparoscopic treatment of splenic artery aneurysms}, journal = {J Vasc Surg}, volume = {50}, number = {2}, pages = {275-9}, note = {Pietrabissa, Andrea Ferrari, Mauro Berchiolli, Raffaella Morelli, Luca Pugliese, Luigi Ferrari, Vincenzo Mosca, Franco United States Journal of vascular surgery : official publication, the Society for Vascular Surgery [and] International Society for Cardiovascular Surgery, North American Chapter J Vasc Surg. 2009 Aug;50(2):275-9.}, abstract = {OBJECTIVES: The purpose of this study was to report a series of 16 consecutive patients who underwent laparoscopic treatment of splenic artery aneurysms. METHODS: Over a period of 8 years, patients were selected for the laparoscopic option by a team of specialists that included the vascular surgeon, the interventional radiologist, and the laparoscopic surgeon. The mean size of the aneurysm was 32 mm and most was located at the splenic hilum. They were twice as common in females as in males. Ultrasonography with color Doppler function was used to define intraoperative strategy. RESULTS: The laparoscopic treatment entailed excision of the aneurysm or its exclusion, usually reserved for distally located lesions. In one patient, laparoscopic resection and robotic anastomosis of the splenic artery was performed to re-establish flow to the spleen. In two patients, the intraoperative decision was added to combine a laparoscopic splenectomy due to insufficient residual arterial flow to the spleen. There was no conversion, or need for re-operation or related mortality. Analysis of intraoperative arterial flow data avoided unnecessary splenectomy following noncritical reduction of flow to the spleen. CONCLUSIONS: The use of intraoperative color Doppler ultrasonography is essential in deciding the appropriate procedure and whether the spleen should be removed or saved. Early control of the splenic artery proximal to the aneurysm can limit the risk of conversion due to intraoperative bleeding. Distally located aneurysms are more difficult to manage and entail a higher risk of associated splenectomy. The laparoscopic option offers some advantages over the endovascular treatment in selected patients. A multidisciplinary approach is the key to a successful treatment of this uncommon disease.}, keywords = {Aged Aneurysm/*surgery/ultrasonography Female Humans Laparoscopy/*methods Male Middle Aged Postoperative Complications Robotics Spleen/blood supply/surgery/ultrasonography Splenectomy/*methods Splenic Artery/*surgery/ultrasonography Splenic Diseases/*surgery/ultrasonography Treatment Outcome Ultrasonography, Doppler, Color Ultrasonography, Interventional}, year = {2009} } @article{PietrabMixed2010, author = {Pietrabissa, A. and Morelli, L. and Ferrari, M. and Peri, A. and Ferrari, V. and Moglia, A. and Pugliese, L. and Guarracino, F. and Mosca, F.}, title = {Mixed reality for robotic treatment of a splenic artery aneurysm}, journal = {Surg Endosc}, volume = {24}, number = {5}, pages = {1204}, note = {Pietrabissa, Andrea Morelli, Luca Ferrari, Mauro Peri, Andrea Ferrari, Vincenzo Moglia, Andrea Pugliese, Luigi Guarracino, Fabio Mosca, Franco Interactive Tutorial Germany Surgical endoscopy Surg Endosc. 2010 May;24(5):1204. Epub 2009 Oct 14.}, abstract = {BACKGROUND: Techniques of mixed reality can successfully be used in preoperative planning of laparoscopic and robotic procedures and to guide surgical dissection and enhance its accuracy. METHODS: A computer-generated three-dimensional (3D) model of the vascular anatomy of the spleen was obtained from the computed tomography (CT) dataset of a patient with a 3-cm splenic artery aneurysm. Using an environmental infrared localizer and a stereoscopic helmet, the surgeon can see the patient's anatomy in transparency (augmented or mixed reality). This arrangement simplifies correct positioning of trocars and locates surgical dissection directly on top of the aneurysm. In this way the surgeon limits unnecessary dissection, leaving intact the blood supply from the short gastric vessels and other collaterals. Based on preoperative planning, we were able to anticipate that the vascular exclusion of the aneurysm would result in partial splenic ischemia. To re-establish the flow to the spleen, end-to-end robotic anastomosis of the splenic artery with the Da Vinci surgical system was then performed. Finally, the aneurysm was fenestrated to exclude arterial refilling. RESULTS: The postoperative course was uneventful. A control CT scan 4 weeks after surgery showed a well-perfused and homogeneous splenic parenchyma. The final 3D model showed the fenestrated calcified aneurysm and patency of the re-anastomosed splenic artery. CONCLUSIONS: The described technique of robotic vascular exclusion of a splenic artery aneurysm, followed by re-anastomosis of the vessel, clearly demonstrates how this technology can reduce the invasiveness of the procedure, obviating an otherwise necessary splenectomy. Also, the use of intraoperative mixed-reality technology proved very useful in this case and is expected to play an increasing role in the operating room of the future.}, keywords = {Anastomosis, Surgical/methods Aneurysm/*surgery Follow-Up Studies Humans Imaging, Three-Dimensional/*methods Robotics/*methods *Splenic Artery *User-Computer Interface Vascular Surgical Procedures/*methods}, year = {2010} }