Staff member


Albert Hernansanz Prats

Postdoctoral Researcher
RA_Robotics
ahernansanz@ibecbarcelona.eu
+34 934 134 054
Staff member publications

Casals, A., Hernansanz, A., Rovira, A., Basombra, J., Comas, R., (2015). Dispositivo para simular una operación endoscópica vía orificio natural Fundació Institut de Recerca de l'Hospital de la Santa Creu i Sant Pau; Universitat Politècnica de Catalunya; Fundació Institut de Bioenginyeria de Catalunya , (EP14382032.2)

Dispositivo para simular una operación endoscópica vía orificio natural que comprende un modelo físico de un órgano biológico que comprende un módulo principal y un módulo de entrada desmontables entre sí. El módulo principal define un cuerpo principal del órgano con una cavidad y el módulo de entrada define una abertura de entrada a la cavidad del módulo principal que corresponde a la entrada del órgano biológico. La cavidad del módulo principal es accesible a través del módulo de entrada por una herramienta endoscópica para actuar en la cavidad del módulo principal. El módulo principal está configurado de manera que, en uso, uno o más módulos de simulación son acoplables con el módulo principal para simular uno o más eventos representativos de la actuación de la herramienta endoscópica en la cavidad del módulo principal.


Hernansanz, A., Casals, A., Amat, J., (2015). A multi-robot cooperation strategy for dexterous task oriented teleoperation Robotics and Autonomous Systems 68, 156-172

The use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of teleoperated systems by means of the automatic cooperation of multiple slave robots which, controlled by a human operator, act as if they were a unique robot: a Multi-Robot Cooperation Platform for Task-Oriented Teleoperation, MRCP. From the human operator commands, this robotic platform, the MRCP, dynamically selects the most suitable slave robot and manages, when necessary, a task transfer from one robot to another in order to achieve a smooth execution of teleoperated tasks. The result of the proposed methodology is an improved teleoperated system in terms of reachable workspace (volume, manoeuvrability and accessibility) and dexterity, thus widening its range of applicability. This approach allows human operators to focus their attention on the ongoing task more than on the teleoperated robots.

Keywords: Multi-robot cooperation, Single-operator-multiple-robot, Task-oriented teleoperation


Hernansanz, A., Zerbato, D., Gasperotti, L., Scandola, M., Casals, A., Fiorini, P., (2012). Assessment of virtual fixtures for the development of basic skills in robotic surgery International Journal of Computer Assisted Radiology and Surgery CARS 2012 Computer Assisted Radiology and Surgery , Springer (Pisa, Italy) 7 (Supplement 1) - Surgical Modelling, Simulation and Education, S186-S188

Teleoperation, by adequately adapting computer interfaces, can benefit from the knowledge on human factors and psychomotor models in order to improve the effectiveness and efficiency in the execution of a task. While scaling is one of the performances frequently used in teleoperation tasks that require high precision, such as surgery, this article presents a scaling method that considers the system dynamics as well. The proposed dynamic scaling factor depends on the apparent position and velocity of the robot and targets. Such scaling improves the performance of teleoperation interfaces, thereby reducing user's workload.

Keywords: Human-robot interaction, Throughput, Scaling functions, Motor control performance


Hernansanz, A., Amat, J., Casals, A., (2012). Virtual Robot: A new teleoperation paradigm for minimally invasive robotic surgery IEEE Conference Publications 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) , IEEE (Roma, Italy) , 749-754

This paper presents a novel teleoperation paradigm, the Virtual Robot (VR), focused on facilitating the surgeon tasks in minimally invasive robotic surgery. The VR has been conceived to increase the range of applicability of traditional master slave teleoperation architectures by means of an automatic cooperative behavior that assigns the execution of the ongoing task to the most suitable robot. From the user's point of view, the VR internal operation must be automatic and transparent. A set of evaluation indexes have been developed to obtain the suitability of each robot as well as an algorithm to determine the optimal instant of time to execute a task transfer. Several experiments demonstrate the usefulness of the VR, as well as indicates the next steps of the research.

Keywords: Cameras, Collision avoidance, Indexes, Joints, Robots, Surgery, Trajectory, Medical robotics, Surgery, Telerobotics, VR internal operation, Automatic cooperative behavior, Evaluation indexes, Master slave teleoperation architectures, Minimally invasive robotic surgery, Task transfer, Virtual robot


Abolmaesumi, Purang, Joskowicz, Leo, Navab, Nassir, Jannin, Pierre, Hernansanz, Albert, Zerbato, Davide, Gasperotti, Lorenza, Scandola, Michele, Fiorini, Paolo, Casals, Alicia, (2012). Improving the development of surgical skills with virtual fixtures in simulation Lecture Notes in Computer Science Information Processing in Computer-Assisted Interventions (ed. Abolmaesumi, P., Joskowicz, L., Navab, N., Jannin, P.), Springer Berlin Heidelberg (Chennai, India) 7330, 157-166

This paper focuses on the use of virtual fixtures to improve the learning of basic skills for laparoscopic surgery. Five virtual fixtures are defined, integrated into a virtual surgical simulator and used to define an experimental setup based on a trajectory following task. 46 subjects among surgeons and residents underwent a training session based on the proposed setup. Their performance has been logged and used to identify the effect of virtual fixtures on the learning curve from the point of view of accuracy and completion time. Virtual fixtures prove to be effective in improving the learning and affect differently accuracy and completion time. This suggests the possibility to tailor virtual fixtures on the specific task requirements.


Hernansanz, A., Amat, J., Casals, A., (2009). Optimization criterion for safety task transfer in cooperative robotics 14th International Conference on Advanced Robotics (ICAR) , IEEE (Munich, Germany) , 254-259

This paper presents a strategy for a cooperative multirobot system, constituting a virtual robot. The virtual robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task from one to another when necessary. To decide which of the robots is the most suitable to execute the task at every instant, a multiparametric decision function has been defined. This function is based on a set of intrinsic and extrinsic evaluation indexes of the robot. Since the internal operation of the virtual robot must be transparent to the user, a control architecture has been developed.

Keywords: Control engineering computing, Manipulators, Multi-robot systems, Optimsation, Telerobotics, Virtual reality


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