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Books
F. Barbagli, K. Salisbury and D. Prattichizzo (Editors), Multi-Point Interaction in Robotics and Virtual-Reality,
Springer-Verlag in their STAR (Springer Tracts on Advanced Robotics) series, Springer
Verlag, 2005.
Chapters in Books
F. Barbagli, A. Formaglio,
A. Giannitrapani, D. Prattichizzo, An
experimental study of the limitations of mobile haptic interfaces,
chapter in Experimental Robotics
IX - STAR (Springer Tracts on Advanced Robotics),
Springer-Verlag, 2004.
F. Barbagli, D. Prattichizzo, K. Salisbury, Multi-Contact Haptic Interaction with Deformable Objects: a
Multi-rate Approach, chapter in Robotics
Research XI - STAR (Springer Tracts on Advanced Robotics), Springer-Verlag,
2003.
Journal Papers
A. Koolwal, F.
Barbagli, C. Carlson, D. Liang, A
Probabilistic Framework for Freehand 3D Ultrasound Reconstruction applied to
Catheter Ablation Guidance in the Left Atrium, International Journal of
Computer Assisted Radiology and Surgery, Accepted for publication, 2009.
A. Koolwal, F. Barbagli, C. Carlson, D. Liang, An Ultrasound-Based Localization
Algorithm for Catheter Ablation Guidance in the Left Atrium, Accepted for
publication in the International Journal of Robotics Research, 2009.
A. Formaglio, D. Prattichizzo, A.
Giannitrapani, F. Barbagli, Dynamic
Performance of Mobile Haptic Interfaces, Accepted for publication, IEEE
Transaction on Robotics, 2008.
C. Sewell, D. Morris, N. Blevins, S. Dutta, S. Agrawal, F. Barbagli, K. Salisbury,
Providing Metrics and Performance
Feedback in a Surgical Simulator, Computer Aided Surgery, March 2008;
13(2): 1–19.
M. Desai, M. Aron, I. S. Gill, G.
Pascal-Haber, O. Ukimura, G. Stahler, F. Barbagli, C. Carlson, F. Moll, Flexible Robotic Retrograde Renoscopy:
Description of a Novel Robotic Device and Preliminary Laboratory Experience,
Urology. 2008 Jul;72(1):42-6. Epub 2008 Apr 18.
D. Morris, C. Sewell, F. Barbagli,
N. Blevins, S. Girod, K. Salisbury, Visuohaptic
Simulation of Bone Surgery for Training and Evaluation, accepted to the IEEE Transactions on Visualization and
Computer Graphics, 2006 (in Press)
H. Tan, F. Barbagli, K. Salisbury,
C. Ho, C. Spence, Force-Direction
Discrimination is not Influenced by Reference Force Direction, Haptics-e, Vol. 4, No. 1,
3-Feb-2006.
F. Barbagli, K. Salisbury, C. Ho,
C. Spence, H. Tan, Haptic
Discrimination of Force Direction and the Influence of Visual Information,
ACM Transactions on Applied
Perception, Vol. 3, No. 2, April 2006, Pages 1–11.
M. Meehan, D. Morris, C. R.
Maurer, A. K. Antony, F. Barbagli, K. Salisbury, S. Girod, Virtual 3D Planning and Guidance of
Mandibular Distraction Osteogenesis, Computer
Aided Surgery, March 2006; 11(2): 51–62.
N. Diolaiti, G. Niemeyer, F.
Barbagli, K. Salisbury, Stability of
Haptic Rendering: Quantization, Discretization, Time-Delay and Coulomb
Effects, IEEE Transactions on
Robotics, 22(2):256-268, April 2006.
F. Barbagli, D. Prattichizzo, K.
Salisbury, A Multirate Approach to
Haptic Interaction with Deformable Objects Single and Multipoint Contacts,
Special Issue on the 11th International Symposium on Robotics Research in the
International Journal of Robotics
Research, Volume 24, Issue 9, pages 703-716, September 2005
F. Severi, D. Prattichizzo, E. Casarosa,
F. Barbagli, C. Ferretti, A. Altomare, A. Vicino, F. Petraglia, Virtual fetal touch through a haptic
interface decreases maternal anxiety and salivary cortisol, Journal of the Society for Gynecologic
Investigation, Volume 12, Issue 1, Pages 37-40, January 2005.
K. Salisbury, F. Barbagli and F.
Conti, Haptic Rendering: Introductory
Concepts, Concepts, in Haptic Rendering: Beyond Visual Computing, Special
Issue of IEEE Computer Graphics
and Applications, March/April 2004, Vol. 24, No. 2, pp. 24-32.
B. la Torre, D. Prattichizzo, F.
Barbagli and A. Vicino, The FeTouch
Project, The International
Journal of Medical Robotics and Computer Assisted Surgery, Vol.
1:1, January 2004.
F. Barbagli, R. Devengenzo, K.
Salisbury, Toward Virtual
Manipulation: From One Point of Contact to Four, Sensor Review (special issue on
Haptic Devices), Vol. 24:1, September 2003.
D. Ferrazin, F. Barbagli, C.A.
Avizzano, G. Di Pietro, M. Bergamasco, Designing
New Commercial Motorcycles Through a Highly Reconfigurable Virtual Reality
Based Simulator, Advanced
Robotics Journal, Vol. 17, No. 4, May 2003.
D. Prattichizzo, D. Borrelli, F.
Barbagli, Supervisory Switching
Strategy in Motion/Force Control of Robotic Manipulation, Dynamics of Continuous, Discrete and
Impulsive Systems. Series B: Applications and Algorithms, Volume
9, Number 4 (2002), pages 587-602.
F. Barbagli, G. Marro, D.
Prattichizzo, Generalized Signal
Decoupling Problem with Stability for Discrete Time Systems, Journal Optimization Theory and Applications,
Vol.111 No.1, pages 59-80, October 2001
Marro G., Barbagli F., The Algebraic Output Feedback in the
Light of Dual-Lattice Structures, Kybernetika,
vol. 35 No. 6. 1999, pages 693-706.
Journal Papers – submitted
C. Salisbury, B.
Gillespie, H. Z. Tan, F. Barbagli, J. K. Salisbury, Psychophysical Detection Thresholds of Sinusoidal Vibrations as a
Means for valuating Haptic Hardware, Submitted to IEEE Transactions on
Haptics, June 2009.
Conference Papers
AB Koolwal, F
Barbagli, CR Carlson, DH Liang. Catheter
Localization in the Left Atrium using an Outdated Anatomic Reference for
Guidance, EMBC 2009.
A.
Koolwal, F. Barbagli, C. Carlson, D. Liang., 3D Ultrasound for Catheter Ablation Guidance in the Left Atrium,
CARS 2009.
C. Salisbury, R. B. Gillespie, H.
Tan, F. Barbagli, J. K. Salisbury, Effects
of Haptic Device attributes on psychophysical detection thresholds of
sinusoidal vibrations, accepted for presentation at World Haptics 2009,
Salt Lake City, Utah.
A. Koolwal, F. Barbagli, C. Carlson, D. Liang, F. Printz, An Image-Based Localization Algorithm for
Catheter Navigation in the Left Atrium, Presented at the
International Symposium of Experimental Robotics (ISER) 2008, Athens, Greece,
July 2008.
A. Koolwal, F. Barbagli, C. Carlson, D. Liang, An Incremental Method for Registering Electroanatomic Mapping Data to
Surface Mesh Models of the Left Atrium, MICCAI (2) 2008: 847-854
E. Ruffaldi, D. Morris, F. Barbagli, K. Salisbury, M. Bergamasco, Voxel-Based Haptic Rendering Using
Implicit Sphere Trees, 14th Symposium on Haptic Interfaces for Virtual
Environment and Teleoperator Systems, Reno, NV, March 2008.
E. Ruffaldi, S. Girod, F. Barbagli, D. Morris, M. Bergamasco, K. Salisbury, Haptic simulation of bone placement based
on voxel models, To appear in CARS 2007.
D. Morris, H. Tan, F. Barbagli, T. Chang, K. Salisbury, Haptic Feedback Enhances Force Skill Learning, To appear in IEEE
WorldHaptics, March 2007. (Best Paper Award)
W. R. Provancher, B. Erickson, F. Barbagli,
H. Z. Tan, Tactile Perception of
Rotational Sliding, To appear in IEEE WorldHaptics, March 2007.
C. Sewell, D. Morris, N. H
Blevins, F. Barbagli, K. Salisbury, Validating
Metrics for a Mastoidectomy Simulator, MMVR 2007, accepted for presentation.
C. Sewell, D. Morris, N. H Blevins, F. Barbagli, K. Salisbury, Evaluating Drilling and Suctioning
Technique in a Mastoidectomy Simulator, MMVR 2007, accepted for
presentation.
C. Ho, H.Z. Tan, F. Barbagli, J.K.
Salisbury, C. Spence, Isotropy and
visual modulation of haptic force direction discrimination on the human
finger, Proceedings of EuroHaptics 2006, 483-486, June 2006.
E. Ruffaldi, D. Morris, T.
Edmunds, F. Barbagli, D. K.Pai, Standardized
Evaluation of Haptic Rendering Systems, to be presented at the 13th
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator
Systems, March 2006.
A. Frisoli, F. Barbagli, E.
Ruffaldi, K. Salisbury, M. Bergamasco, A
Limit-Curve Based Soft Finger god-object Algorithm, to be presented at the
13th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator
Systems, March 2006.
C. Sewell, D. Morris, N. Blevins,
F. Barbagli, K. Salisbury, Achieving
Proper Exposure in Surgical Simulation, To appear in the proceedings of
MMVR (Medicine Meets Virtual Reality) XIV, Long Beach, CA, January 2006.
N. Diolaiti, G. Niemeyer, F.
Barbagli, K. Salisbury, A criterion
for the passivity of haptic devices, In Proc. IEEE Int. Conf. on Robotics
and Automation, pages 2463-2468, April 2005.
N. Diolaiti, G. Niemeyer, F. Barbagli, K. Salisbury, C. Melchiorri, The effect of quantization and coulomb
friction on the stability of haptic rendering, In Proc. World
Haptics Conference, March 2005.
A. Bemporad, G. Bianchini, F. Brogi, F. Barbagli, Passivity analysis and passification of discrete-time hybrid systems,
Proc. of 16th IFAC World Congress, Czech Republic, 2005.
D. Morris, S. Girod, F. Barbagli,
K. Salisbury, Force-feedback in
Craniofacial Surgery Simulation, To be presented at the 2nd International
Conference on Advanced Digital Technology in Head and Neck Reconstruction,
Alberta, Canada, March, 2005.
D. Morris, S. Girod , F. Barbagli
, K. Salisbury, An Interactive
Simulation Environment for Craniofacial Surgical Procedures, To appear in
the proceedings of MMVR (Medicine Meets Virtual Reality) XIII, Long Beach,
CA, January 2005.
C. Sewell, D. Morris, N. Blevins,
F. Barbagli, K. Salisbury, Quantifying
Risky Behavior in Surgical Simulation, Accepted for Medicine Meets
Virtual Reality (MMVR), Long Beach, CA, January 2005.
C. Sewell, D. Morris, N. Blevins,
F. Barbagli, K. Salisbury, Training
the Cognitive and Stylistic Aspects of Surgery Through Simulation,
Accepted for Biomedical Computation at Stanford Symposium (BCATS), Stanford,
CA, October 2004. (Best student Poster Award)
D. Morris, C. Sewell, N. Blevins,
F. Barbagli, K. Salisbury, A
Collaborative Virtual Environment for the Simulation of Temporal Bone Surgery,
Accepted for Biomedical Computation at Stanford Symposium (BCATS), Stanford,
CA, October 2004. Abstract
C. Sewell, D. Morris, N. Blevins,
F. Barbagli, K. Salisbury, An
Event-Driven Framework for the Simulation of Complex Surgical Procedures,
Proceedings of the International Conference on Medical Imaging Computing and
Computer Assisted Intervention (MICCAI), St. Malo, France, September 2004,
Springer Lecture Notes in Computer Science, Vol. II, pp. 346-354.
D. Morris, C. Sewell, N. Blevins,
F. Barbagli, K. Salisbury, A
Collaborative Virtual Environment for the Simulation of Temporal Bone Surgery,
Proceedings of the International Conference on Medical Imaging Computing and
Computer Assisted Intervention (MICCAI), St. Malo, France, September 2004,
Springer Lecture Notes in Computer Science, Vol. II, pp. 319-327.
F. Barbagli, A. Frisoli, K.
Salisbury and M. Bergamasco, Simulating
human fingers: a Soft Finger Proxy Model and Algorithm, Presented at the
12th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator
Systems, Chicago, Illinois, March 2004 (presented) (Finalist for Best Paper Award)
C. Sewell, K. Salisbury, F.
Barbagli, T. Krummel, and J.C. Latombe, Haptic
Interaction to Simulate Complex Surgical Procedures, Biomedical
Computation at Stanford Symposium (BCATS), Stanford, CA, October 2003.
Abstract
B. La Torre, D. Prattichizzo, F. Barbagli, A. Vicino, The Fetouch Project, Proceedings of the IEEE International
Conference on Robotics and Automation ICRA 2003, pages 1259-1263, Volume 1,
Taipei, Taiwan, September 2003.
F. Barbagli, K. Salisbury, R. Devengenzo, Enabling Multi-finger, Multi-hand Virtualized Grasping,
Proceedings of the IEEE International Conference on Robotics and Automation
ICRA 2003, pages 806-815, Volume 1, Taipei, Taiwan, September 2003.
B. La Torre, D. Prattichizzo, F. Barbagli, and A. Vicino, The Fetouch System: Visual-Haptic
Rendering of Fetuses, Demo paper in Proceedings of Eurohaptics03, July
2003, Dublin, Ireland. (Presented)
U. Gretarsdottir, F. Barbagli and
K. Salisbury, Phantom-X, Demo
paper in the proceedings of Eurohaptics03, July 2003, Dublin, Ireland.
(Presented)
F. Conti, F. Barbagli et al., The CHAI Libraries, Demo paper in the
proceedings of Eurohaptics03, July 2003, Dublin, Ireland. (Presented)
M. Bergamasco, A. Frisoli, F. Barbagli,
The Museum of Pure Form, IEEE
International Conference of Advanced Robotics (IEEE ICAR03), Coimbra,
Portugal, July 2003.
F. Barbagli, K. Salisbury, The Effect
of Sensor/Actuator Asymmetries in Haptic Interfaces, Haptics Symposium
2003, Los Angeles, California, March 2003, pages 140-147. (Presented)
F. Barbagli, D. Prattichizzo, K. Salisbury, Dynamic Local Models for Stable Multi-Contact Haptic Interaction with
Deformable Objects, Haptics Symposium 2003, Los Angeles, California,
March 2003, pages 109-116. (Presented)
F. Barbagli, D. Prattichizzo, K. Salisbury, Multirate analysis of Haptic Interaction Stability with Deformable
Objects, in the Proceedings of the 41st IEEE Conference on Decision and
Control, Las Vegas, Nevada, December 2002, pages 917-922.
M. Bergamasco, A. Frisoli, F. Barbagli, Haptics
Technologies and Cultural Heritage Applications, in the Proceedings of
IEEE Computer Animation 2002, pg. 25-32, Geneva, Switzerland, June 2002.
F. Barbagli, M. Bergamasco, A. Frisoli, A. Ledo, The Museum of Pure Form, Demonstration at Museums and the
Web2002, Boston Mass, March 2002.
C.A. Avizzano, G. Di Pietro, F. Barbagli, M.Bergamasco, The Museum of Pure Form: System Architecture, Proc. Of 10th IEEE
International Workshop on Robot Human Interaction 2001, Paris, France,
December 2001, pp. 112-117.
D. Ferrazzin, F. Salsedo, F. Barbagli, C. A. Avizzano, G. Di Pietro, A.
Brogni, M. Vignoni, M. L. Arnone, M. Marcacci, L. Masut, A. Benedetti, The MORIS Motorcycle Simulator: an
Overview, Proc. Of the 7th Small Engine Technology Conference And
Exhibition (SECT2001), paper SAE code 2001-01-1874, November 2001, Pisa,
Italy (Best paper award finalist).
G. Di Pietro, F. Barbagli, D. Ferrazin, C.A. Avizzano, G. Docile, M.
Bergamasco, The Moris Simulator - a
Reconfigurable Motorcycle Design Tool, Proc. Of the Driving Simulation
Conference, France, September 2001, pp. 317-325.
F. Barbagli, G. Di Pietro, D. Ferrazin, C.A. Avizzano, G. Docile, M.
Bergamasco, Performance Evaluation of
a Head Centered Washout Filter for Motorcycle Simulators, Proc. Of the
Driving Simulation Conference, France, September 2001, pp. 327-336.
F. Barbagli, D. Ferrazzin, C.A. Avizzano, M. Bergamasco, Washout Filter Design in a Motorcycle Simulator, IEEE-VR2001, Yokohama/Tokyo,
March 2001, pages 225-232.
F. Barbagli, G. Marro, D. Prattichizzo, Solving
Signal Decoupling Problem Through Self-Bounded Controlled Invariants,
Presented at 38th Conference on Decision and Control, Sidney, Australia,
December 2000, pages 4506-4511, vol. 5.
M. Bergamasco, C.A. Avizzano, F. Barbagli, Frisoli A., The Museum of Pure Form: Preliminary Considerations, Proc. of
Telemanipulator and Telepresence Technologies VII, SPIE Photonics east
Conference, Boston, 5-8 October 2000.
Avizzano C.A., Barbagli F., Bergamasco M., Washout Filter Design for a Motorcycle Simulator, Proc. of IEEE
SMC2000, Nashville, U.S.A. 8-11 October 2000, pages 995-1000, vol. 2.
(Presented)
Barbagli F., Avizzano C.A., Frisoli A., Bergamasco M., The Hand Force Feedback: Analysis and Control of a Haptic Device for
the Human Hand, Proc. of IEEE SMC2000, Nashville, U.S.A. 8-11 October
2000, pages 989-994, vol. 2. (Presented)
Avizzano C.A., Barbagli F., Feys P., Bergamasco M., Adaptive filters for the suppression of tremor, Proc. of IEEE
SMC2000, Nashville, U.S.A. 8-11 October 2000, pages 1805-1810, vol. 3.
(Presented)
Barbagli F., Marro G., Prattichizzo D., Previewed
Signal Decoupling for Discrete Time Systems, Presented at the MTNS 2000,
Perpignac, France, June 19-23 2000.
G.M. Prisco, F. Barbagli, M. Bergamasco, et.al., Haptic Control of the Hand Force Feedback System, Proc. of
Telemanipulator and Telepresence Technologies VI, SPIE Photonics east
Conference, Boston, October 1999, pages 76-87, SPIE Vol. 3840.
Prattichizzo D., Mercorelli P., Barbagli F., Dynamic Control of Internal Force for Visco-Elastic Contact Grasps,
Proc. Of 8th IEEE International Workshop on Robot Human Interaction 1999,
Pisa, Italy, September 27-29 1999, pp. 321-326.
Marro G., Barbagli F., Mercorelli P., Prattichizzo D., Some Results on Output Algebraic Feedback with Applications to
Mechanical Systems, Proc. of 36th Conference on Decision and Control,
Tampa, Florida, USA, December 1998, pp. 3545-3550, vol 3.
Marro G., Barbagli F., The Algebraic
Output Feedback in the Light of Dual-Lattice Structures, Proc. of the 6th
IEEE Mediterranean Conference on Control and Automation, Alghero, Italy, 9-11
June 1998, pp.17-22. (Presented).
Invited Talks & Lectures
May 2009 - The Role of
Robotics in Catheter-based Minimally Invasive Procedures, Computer Science
Department, Stanford University
November
2007 - Robotic Catheters, in JC Latombe’s Motion Planning for Robots, Digital
Actors, and Other Moving Objects class at Stanford CS.
July 2005 - chai3d: an open-source toolkit for haptic and graphics rendering
in Recent Advances in Haptic Rendering & Applications, Siggraph 2005, Los
Angeles, CA.
May 2003 - Multi-point Contact Haptic Interaction, University College of
London.
January 2003 - The Stanford Workshop on Surgical Simulation, TATRC Day at
Medicine Meets Virtual Reality 2003 (MMVR03), Orange County, CA
May 2000 - Introduction to Haptic Devices, University of Siena
June 1998 - The Algebraic Output Feedback in the Light of Dual-Lattice
Structures, 6th IEEE Mediterranean Conference on Control and Automation,
Alghero, Italy
Patents
11/176,598 Methods Using A
Robotic Catheter System
11/176,957 Robotic Catheter System
11/331,576 Robotic Catheter System
11/829,076 Systems and methods for performing minimally invasive
surgical operations
PCT/US2007/074528 Systems for performing minimally invasive surgical
operations
11/833,969 Systems and methods for performing minimally invasive
surgical operations
PCT/US2007/075225 Systems for performing minimally invasive surgical
operations
11/906,746 System and Methods for Three Dimensional Ultrasound Mapping
PCT/US2007/021278 Systems for Three Dimensional Ultrasound Mapping
12/079,500 Robotic Catheter System and Methods
PCT/US2008/03997 Robotic Catheter System and Methods
12/150,110 Systems and Methods for Mapping Intra-Body Tissue Compliance
12/150,109 Systems and Methods for Mapping Intra-Body Tissue Compliance
PCT/US2008/005310 Robotic Instrument Control System
12/192,974 Systems and Methods Employing Force Sensing for Mapping
Intra-Body Tissue
61/116,454 Robotic Catheter Positioning System
61/122,298 Multiple Flexible and Steerable Elongate Instruments for
Minimally Invasive Operations
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