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Robotica Medica

Il Gruppo Mechatronics si occupa dello sviluppo di sistemi robotici per applicazioni medicali nel campo della neurochirurgia, della neuroriabilitazione e della radioterapia. Le attività di ricerca svolte nell'area della robotica medica sono:


Utilizzo del feedback sonoro nella robotica riabilitativa
Ortesi attiva per la riabilitazione della mano
SOPHIA4: Robot planare a cavi per usi riabilitativi
MariBot: robot a cavi per neuroriabilitazione a 5 gradi di libertà
DAANS: Double Action Actuator for Neuro Surgery
NeReBot: robot a cavi per neuroriabilitazione a tre gradi di libertà
IARMAUT: Intelligenza Artificiale per la Robotica Medica e l'AUTomazione
RoBoGa: Sistema di guida virtuale per non vedenti
LANS: Sistema robotico per Neurochirurgia
TBI: Filtro modulare a celle d'acqua per l'Irradiazione Corporea Totale

Pubblicazioni

G. Rosati, S. Masiero, and A. Rossi
On the use of cable-driven robots in early inpatient stroke rehabilitation
Mechanisms and Machine Science, 47:551-558, 2017

F. Oscari, R. Oboe, O. Daud, S. Masiero, G. Rosati
Design and construction of a bilateral haptic system for the remote assessment of the stiffness and range of motion of the hand
Sensors (Switzerland), 16(10), 2016

S. Minto, D. Zanotto, E.M. Boggsy, G. Rosati and S.K. Agrawal
Validation of a Footwear-Based Gait Analysis System with Action-Related Feedback
IEEE Transactions on Neural Systems and Rehabilitation Engineering, 24(9):971-980, 2016

F. Oscari, C. Finetto, S. A. Kautz and G. Rosati
Changes in muscle coordination patterns induced by exposure to a viscous force field
Journal of Neuroengineering and Rehabilitation, 13(1), 2016

O. Daud, R. Oboe, F. Oscari, S. Masiero and G. Rosati
Development of a four-channel haptic system for remote assessment of patients with impaired hands
Robotica, pages 1-17, 2016.

S. Masiero, M. Armani, G. Ferlini, G. Rosati, and A. Rossi
Randomized trial of a robotic assistive device for the upper extremity during early inpatient stroke rehabilitation
Neurorehabilitation and Neural Repair, 28(4):377-386, 2014

D. Zanotto, G. Rosati, S. Minto, and A. Rossi
Sophia-3: a semi-adaptive cable-driven rehabilitation device with tilting working plane
IEEE Transactions on Robotics, 30(4):974-979, 6746658, 2014

S. Masiero, P. Poli, M. Armani, G. Ferlini, R. Rizziello, and G. Rosati
Robotic upper limb rehabilitation after acute stroke by NeReBot: evaluation of treatment costs
BioMed Research International, 265634, 2014

S. Masiero, P. Poli, G. Rosati, D. Zanotto, M. Iosa, S. Paolucci, and G. Morone
The value of robotic systems in stroke rehabilitation
Expert Review of Medical Devices, 11(2):187-198, 2014

D. Zanotto, G. Rosati, S. Spagnol, P. Stegall, and S. K. Agrawal
Effects of complementary auditory feedback in robot-assisted lower extremity motor adaptation
IEEE Transactions on Neural Systems and Rehabilitation Engineering, 21(5):775-786, 2013

P. Poli, G. Morone, G. Rosati, and S. Masiero
Robotic technologies and rehabilitation: new tools for stroke patients’ therapy
BioMed Research International, 2013(153872):1-8, 2013.

G. Rosati, A. Rodà, F. Avanzini, and S. Masiero
On the role of auditory feedback in robot-assisted movement training after stroke: Review of the literature
Computational Intelligence and Neuroscience, 2013(586138):1-15, 2013

F. Oscari, R. Secoli, F. Avanzini, G. Rosati, and D. J. Reinkensmeyer
Substituting auditory for visual feedback to adapt to altered dynamic and kinematic environments during reaching
Experimental Brain Research, 221(1):33-41, 2012

G. Rosati, F. Oscari, S. Spagnol, F. Avanzini, and S. Masiero
Effect of task-related continuous auditory feedback during learning of tracking motion exercises
Journal of NeuroEngineering and Rehabilitation, 9(79), 2012

S. Masiero, M. Armani, G. Ferlini, A. Chiasera, G. Rosati, A. Rossi, and C. Ferraro
A novel robot-assisted upper-limb rehabilitation program in acute management of post-stroke patients: a randomized controlled trial
Neurorehabilitation and Neural Repair, 26(4):395, 2012

A. Polotto, F. Modulo, F. Flumian, Z.G. Xiao, P. Boscariol, C. Menon
Index Finger Rehabilitation/Assistive Device
IEEE International Conference on Biomedical Robotics and Biomechatronics - BioRob 2012, Roma, Italy, 24-27 June 2012

S. Spagnol, M. Geronazzo, F. Avanzini, F. Oscari, and G. Rosati
Employing spatial sonification of target motion in tracking exercises
In Proceedings of the 9th Sound and Music Computing Conference SMC 2012, Copenhagen, DK, July 11-14 2012

D. Zanotto, G. Rosati, F. Avanzini, P. Stegall, and S. K. Agrawal
Robot-assisted gait training with complementary auditory feedback: results on short-term motor adaptation
In Proc. of the 4th IEEE RAS/EMBS Int. Conf. on Biomedical Robotics and Biomechatronics BIOROB 2012, pages 1388-1393, Roma, Italy, June 24-27 2012

P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Neumesy: A special robot for neurosurgery
Annals of Faculty Engineering Hunedoara – International Journal of Engineering. Vol. IX-2 pp. 65-72 (2011)

V. Zanotto, P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, N. Di Lorenzo, P. Gallina, A. Dalla Via , A. Rossi
A master-slave haptic system for neurosurgery
Applied Bionics and Biomechanics 8 (2011), pp- 209-220

S. Masiero, M. Armani, and G. Rosati
Upper-limb robot-assisted therapy in rehabilitation of acute stroke patients: focused review and results of new randomized controlled trial
Journal of Rehabilitation Research and Development, 48(4), 2011

R. Secoli, M.-H. Milot, G. Rosati, and D. J. Reinkensmeyer
Effect of visual distraction and auditory feedback on patient effort during robot-assisted movement training after stroke
Journal of NeuroEngineering and Rehabilitation, 8(21), 2011

G. Rosati, F. Oscari, D. J. Reinkensmeyer, R. Secoli, F. Avanzini, S. Spagnol, and S. Masiero
Improving robotics for neurorehabilitation: enhancing engagement, performance, and learning with auditory feedback
In Proceedings of the IEEE 12th International Conference on Rehabilitation Robotics ICORR2011, pages 341–346, Zurich, CH, June 29-July 1 2011

P. Boscariol, A. Gasparetto, M. Giovagnoni, R. Vidoni
Experimental validation of an innovative haptic system for surgical robotics
Proc. of the 9th International Conf. on Advanced Manufacturing Systems and Technology AMST '11, Mali Losinj (Croatia), June 16-17 2011, pp.271-282

G. Rosati, A. Rossi, M. Armani, and S. Masiero
Acute and subacute phase rehabilitation in post-stroke patients: a new robot-assisted upper-limb rehabilitation program
In Proceedings of the International Neurorehabilitation Symposium INRS 2011, Zurich, CH, June 27-29 2011

S. Masiero, G. Ferlini, A. Chiasera, M. Armani, A. Stecco, C. Ferraro, and G. Rosati
Post-stroke robotic training of the upper limb: a randomized trial study
In Proceedings of the XI Congress of European Federation for Research in Rehabilitation EFRR 2011, Riva del Garda, Italy, May 26-28 2011

M. Armani, G. Rosati, G. Ferlini, A. Chiasera, D. Orrico, C. Ferraro, G. Moretto, F. Chioffi, and S. Masiero
Robotic therapy of the paretic upper limb of poststroke patients: a randomized trial study
In Proceedings of the XX World Congress of Neurology WCN 2011, Marrakesh, Morocco, Nov 12-17 2011

A. Gasparetto and V. Zanotto
Toward an optimal performance index for neurosurgical robot's design
Robotica (2010), volume 28, issue 02, pp. 279-296

G. Rosati
The place of robotics in post-stroke rehabilitation
Expert Review of Medical Devices, 7(6):753–758, 2010. Invited Paper.

S. Masiero, G. Rosati, S. Valarini, P. Poli, G. Ferlini, A.Chiasera, M. Armani, A. Rossi, and C. Ferraro
Post-stroke robotic training of the upper limb: a randomized trial study (preliminary results)
European Journal of Physical and Rehabilitation Medicine, 46(Suppl. 1 to no. 2):256, 2010

R. Oboe, O. A. Daud, S. Masiero, F. Oscari, and G. Rosati
Development of a haptic teleoperation system for remote motor and functional evaluation of hand in patients with neurological impairments
In Proceedings of the 11th IEEE International Workshop on Advanced Motion Control AMC 2010, pages 518–523, Nagaoka, Japan, March 21-24 2010

R. Oboe, O. A. Daud, S. Masiero, F. Oscari, and G. Rosati
Remote evaluation of muscular capabilities in patients with neurological impairments
In Proc. of the Int. Symp. on Application of Biomedical Control Systems to Precision Eng. ISAB 2010, p. 102–106, Fukushima, Japan, July 22-24 2010

R. Oboe, O. A. Daud, S. Masiero, F. Oscari, and G. Rosati
A teleoperation system for a remote evaluation of the hand in patients with neurological impairments
In Proceedings of the 6th Europe-Asia congress on Mechatronics EAM 2010, pages 17–22, Yokohama, Japan, November 22-24 2010

S. Masiero, G. Ferlini, A. Chiasera, M. Armani, and G. Rosati
Post-stroke robotic training of the upper limb: a randomized trial study
In Proceedings of the American Academy of Physical Medicine and Rehabilitation 71st Annual Assembly & Technical Exhibition, Seattle, WA, USA, Nov 2010

A. Rossi, D. Zanotto, and G. Rosati
Cable-based robotic systems for post-stroke neurorehabilitation
In Terza giornata di studio Ettore Funaioli, pages 289–298. A cura di U. Meneghetti, A. Maggiore e V. Parenti Castelli, Bologna, Italy, 2010

S. Masiero, E. Carraro, P. Gallina, A. Rossi, and G. Rosati
Upper limb rehabilitation robotics after stroke: a perspective from the University of Padua, Italy
Journal of Rehabilitation Medicine, 41(12):981–985, 2009

S. Masiero, G. Rosati, S. Valarini, and A. Rossi
Post-stroke robotic training of the upper limb in the early rehabilitation phase
Functional Neurology, 24(4):203–206, 2009.

G. Rosati, S. Cenci, G. Boschetti, D. Zanotto, and S. Masiero
Design of a single-dof active hand orthosis for neurorehabilitation
In Proceedings of the IEEE 11th International Conference on Rehabilitation Robotics ICORR2009, pages 161–166, Kyoto, Japan, June 23-26 2009

G. Rosati, D. Zanotto, R. Secoli, and A. Rossi
Design and control of two planar cable-driven robots for upper-limb neurorehabilitation
In Proceedings of the IEEE 11th International Conference on Rehabilitation Robotics ICORR2009, pages 560–565, Kyoto, Japan, June 23-26 2009

R. Secoli, G. Rosati, and D. J. Reinkensmeyer
Using sound feedback to counteract visual distractor during robot-assisted movement training
In Proceedings of the IEEE 8th International Workshop on Haptic Audio-Visual Environments and Games HAVE2009, Lecco, Italy, November 7-8 2009

G.Boschetti, A. Dalla Via, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
New Trends in Robotic Neurosurgery
Acta Mechanica Slovaca, vol. 2-A, June 2008, pp. 213-224

L. Baldessin, G.Boschetti, A. Gasparetto, R. Vidoni, V. Zanotto
A New Kinematic Performance Index for Surgical Robots Design
Acta Mechanica Slovaca, vol. 2-A, June 2008, pp. 55-68

E. Carraro, S. Masiero, G. Rosati, and C. Ferraro
Recupero della forza muscolare dopo precoce mobilizzazione passiva nel paziente emiplegico
Europa Medicophysica, 44(Suppl.1 to No.3):1–3, 2008

G. Rosati, R. Secoli, D. Zanotto, A. Rossi, and G. Boschetti
Planar robotic systems for upper-limb post-stroke rehabilitation
In Proceedings of the ASME International Mechanical Engineering Congress & Exposition IMECE 2008, Boston, MA, USA, Oct 31 - Nov 6 2008

G. Rosati, J. E. Bobrow, and D. J. Reinkensmeyer
Compliant control of post-stroke rehabilitation robots: using movement-specific models to improve controller performance
In Proceedings of the ASME International Mechanical Engineering Congress & Exposition IMECE 2008, Boston, MA, USA, Oct 31 - Nov 6 2008

A. Rossi and G. Rosati
Sistemi robotici per la riabilitazione
In Allungare la vita è possibile. Tecnologia e invecchiamento, pages 74–84. Centro Studi Alvise Cornaro, Padova, Italy, 2008

S. Masiero, A. Celia, G. Rosati, and M. Armani
Robotic-assisted rehabilitation of the upper limb after acute stroke
Archives of Physical Medicine and Rehabilitation, 88(2):142–149, 2007

G. Rosati, P. Gallina, and S. Masiero
Design, Implementation and Clinical Tests of a Wire-Based Robot for Neurorehabilitation
IEEE Transactions on Neural Systems and Rehabilitation Engineering, 15(4):560–569, 2007.

S. Masiero, E. Carraro, A. Celia, G. Rosati, and M. Armani
Robotic therapy: a novel approach in upper-limb neurorehabilitation after stroke
Neurological Sciences, 28(5):294, 2007. Letter

S. Masiero, E. Carraro, G. Rosati, A. Rossi, and C. Ferraro
Terapia asistida por robot: una nueva oportunidad en neurorrehabilitacion
El Hospital, 63(6):8–10, 2007

A.Gasparetto, R.Vidoni, and V.Zanotto
A robotic teleoperation system based on Force Reflecting and Delayed Reference Control
Proceedings of the the 12th IFToMM World Congress in Mechanism and Machine Science, Besançon (France), June 17-21, 2007

G. Rosati, G. Volpe, A. Biondi, G. Boschetti, and A. Rossi
Trajectory planning of a two-link rehabilitation robot arm
In Proceedings of the 12th IFToMM World Congress, Besancon, France, June 18-21 2007

S. Masiero, E. Carraro, P. Gallina, G. Rosati, A. Rossi, C. Ferraro, and M. Ortolani
A novel robotic device in neurorehabilitation
In Proceedings of Festival of International Conferences on Caregiving, Disability, Aging and Technology FICCDAT2007, Toronto, Canada, June 16-19 2007

G. Rosati, M. Andreolli, A. Biondi, and P. Gallina
Performance of cable suspended robots for upper limb rehabilitation
In Proceedings of the IEEE 10th Int. Conference on Rehabilitation Robotics ICORR2007, pages 385–392, Noordwijk, the Netherlands, June 13-15 2007

A. Rossi and G. Rosati
Rehabilitation robotics in padua, Italy
In Proceedings of the IEEE 10th Int. Conference on Rehabilitation Robotics ICORR2007, pages 323–327, Noordwijk, the Netherlands, June 13-15 2007

A. Gasparetto, R. Vidoni, V. Zanotto
NEUROBUD: a Novel Robot for Neurosurgery
Proceedings of the the 16th International Workshop in Alpe-Adria Danube Region (RAAD 2007), Ljubljana (Slovenia), June 7-9, 2007

A. Gasparetto, R. Vidoni, V. Zanotto
Controllore ibrido per un sistema robotico master-slave per neurochirurgia
Atti del XVIII Congresso Nazionale AIMETA, Brescia, 11-14 settembre 2007

G. Rosati, S. Masiero, E. Carraro, P. Gallina, M. Ortolani, and A. Rossi
Robot-aided upper limb rehabilitation in the acute phase
In Proceedings of Virtual Rehabilitation 2007, page 82, Venice, Italy, September 27-29 2007.

G. Rosati, P. Gallina, A. Rossi, and S. Masiero
Wire-based robots for upper-limb rehabilitation
International Journal of Assistive Robotics and Mechatronics, 7(2):3–10, 2006.

S. Masiero, A. Celia, M. Armani, G. Rosati, B. Tavolato, C. Ferraro, and M. Ortolani
Robot-aided intensive training in post-stroke recovery
Aging Clinical and Experimental Research, 18(3):261–265, 2006

S. Masiero, A. Celia, M. Armani, and G. Rosati
A novel robot device in rehabilitation of post-stroke hemiplegic upper limbs
Aging Clinical and Experimental Research, 18(6):531–535, 2006

M. Armani, S. Masiero, A. Celia, G. Rosati, and E. Carraro
Stroke patients: results of robotic therapy on motor impairment
Neurology, 66(5):298, 2006. Meeting abstract

A. Rossi, A. Trevisani, and V. Zanotto
A telerobotic haptic system for minimally invasive stereotactic neurosurgery
Int. J. Medical Robotics and Computer Assisted Surgery, Robotic Publications Ltd.,1(2):64-75, 2005

P. Gallina, G. Rosati, and A. Rossi
Implementation of a water compensator for total body irradiation
IEEE Transactions on Biomedical Engineering, 52(10):1741–1747, 2005.

R. Valencia Garcia, R. Martinez Béjar, A. Gasparetto
An intelligent framework for simulating robot-assisted surgical operations
Expert Systems with Applications, Elsevier Publ., vol. 28, n. 3, Apr. 2005, pp. 425-433

A. Biason, G. Boschetti, A. Gasparetto, M. Giovagnoni and V. Zanotto
A force-torque sensor for applications in medical robotics
Accepted for publication in Proceedings of the 7th Int. conf. AMST Advanced Manufacturing Systems and Technology 9-10 June 2005 in Udine - Italy

G. Rosati, P. Gallina, S. Masiero, and A. Rossi
Design of a new 5 d.o.f. wire-based robot for rehabilitation
In Proceedings of the IEEE 9th International Conference on Rehabilitation Robotics ICORR2005, pages 430–433, Chicago, IL, USA, June 28 - July 1 2005.

A. Rossi, M. Andreolli, G. Boschetti, A. Dalla Via, G. Rosati, A. Trevisani, and V. Zanotto
Haptic systems in robotic surgery applications
In Proc. of the Israel-Italy Workshop on Advanced Computer Aided Surgery & Biomedical Image Processing, pages 36-47, Tel Aviv, Israel, June 1 2005

G. Boschetti, G. Rosati, and A. Rossi
A haptic system for robotic assisted spine surgery
In Proceedings of the IEEE Conference on Control Applications CCA05, pages 19–24, Toronto, ON, Canada, 29-31 August 2005. Invited Paper.

Trevisani, A.; Rossi, A.; Zanotto, V.
Design and implementation of a mechatronic device for robot-assisted neurosurgery
Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.

E. Alessandri, A. Gasparetto, R. Martinez Béjar, R. Valencia Garcia
An application of artificial intelligence to medical robotics
Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, vol. 41, Dec. 2004, pp. 225-243

S. Masiero, A. Celia, V. Perticaro, L. Penzo, M. Armani, G. Rosati, P. Gallina, A. Rossi, C. Ferraro, and M. Ortolani
Sviluppo di un robot per la riabilitazione dell’arto superiore nell’emiplegico
Europa Medicophysica, 40 (Suppl.1 to No.3):645–648, 2004

A.Rossi, A.Gasparetto, A.Trevisani, and V.Zanotto
A robotic approach to stereotactic radio-surgery
ASME 7th Biennial Conference on Engineering Systems Design and Analysis (ESDA2004) July 19–22, 2004 , Manchester, England Volume 3 ISBN: 0-7918-4175

G. Boschetti, A. Dalla Via, G. Rosati, and V. Zanotto
Safety issues in neurosurgical robotic applications: improving fail safe design
In Proceedings of the 7th Int. Conf. ROBTEP 2004 - Automation/Robotics in theory and practice, pages 50–58, Vysn Ruzbachy, Slovak Republic, May 2004

V. Zanotto
Studio di sistemi aptici master-slave per applicazioni di neurochirurgia mini-invasiva
PhD Thesis, Università degli Studi di Brescia - DIM, 2004

G. Rosati, A. Rossi, and V. Zanotto
Lans: a haptic system for minimally invasive radio-surgery
International Journal of Mechanics and Control, 4(2):45–50, 2003

G. Rosati, A. Rossi, and V. Zanotto
Lans: a haptic system for minimally invasive radio-surgery
In Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD03, Cassino (FR), Italy, May 2003

G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
ROBOGA: an obstacle avoidance system for blind people
In Proceedings of IASTED Intenational Conference on Biomedical Engineering BioMED2003, pages 237-242, Salzburg, Austria, June 2003

G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
Design of an innovative water filter for Total Body Irradiation
In Proceedings of IASTED Intenational Conference on Biomedical Engineering BioMED2003, pages 243-248, Salzburg, Austria, June 2003

C. Fanin, P. Gallina, A. Rossi, U. Zanatta and S. Masiero
NeRebot: a wire-based robot for neurorehabilitation
In Proceedings of the 8th International Conference on Rehabilitation Robotics ICORR03, Daejeon, Republic of Korea, April 2003

A. Gasparetto, A. Biason
Design of a robotic wrist for biomedical applications
Proc. of the 6th Int. Conf. on Advanced Manufacturing Systems and Technology, Udine, 20-21 June2002

R. Caracciolo, P. Gallina, G. Rosati, and A. Rossi
Some applications of robotic mechanisms and haptic interfaces in rehabilitation
In Proceedings of ISCSB 2001, pages 203–211, Milan, Italy, July 2001

M. Bisiacco, P. Gallina, G. Rosati, and A. Rossi
Development of a state-space water-level control for an array of cells to be employed as compensator in radiotherapy
Dynamics and Control, 10:399–417, 2000

R. Caracciolo, D. Ciscato, A. Gasparetto, A. Rossi
Design and Implementation of a Mechatronic Device for X-ray Collimation
Proceedings of the Sixth IMEKO International Symposium on Measurement and Control in Robotics, Bruxelles, 9-11 May 1996

R. Caracciolo, A. Gasparetto, M. Giovagnoni and A. Rossi
A Mechatronic System for Conformal Radiotherapy
Proceedings of the Scientific Seminar of the 15th Working Meeting of the IFToMM Commission A, Warsaw, 22-25 June 1996

R. Caracciolo, A. Gasparetto, A. Rossi, S. Santi
Applicazioni di Robotica in Neurochirurgia
Atti del IV Seminario GMA di Meccanica Applicata alle Macchine, Assisi, 13-14 June 1996

R. Caracciolo, F. Fanton, A. Gasparetto, A. Rossi
A Laser Based 3D Correlation Procedure for the Execution of a Biomedical Task in a Robotized Cell
Proceedings of the Third Conference on Mechatronics and Robotics, Paderborn, Germany, 4-6 Oct. 1995

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