|BIOMATERIALS AND TE
SYNTHETIC BIOLOGY LAB
|The BioRobotics Lab is an integrated laboratory which gathers two affiliated robotics research centers: PRISMA Lab and ICAROS. The lab leads research in advanced robotics applied mainly to two areas: bio-inspired robotics and surgical robotics.|
The first research area is pursued by the team of PRISMA Lab (Projects of Robotics for Industry and Services, Mechatronics and Automation) that operates in the Department of Electrical Engineering and Information Technology of University of Naples Federico II and Consortium CREATE. Since 30 years PRISMA Lab is committed to research in robotics and automation. In recent years, it has extended its interest to bio-inspired control strategies and mechatronic design of artificial anthropomorphic hands, human motion analysis for studies of hand-arm and dual-arm grasping and manipulation of rigid and deformable objects, bio-inspired supervised strategies and reinforcement learning strategies for complex manipulation tasks. Recent works in neurosciences have highlighted embedded constraints in the human hand sensory-motor organization identified as sensory-motor synergies. Advanced research studies conducted by PRISMA Lab team within DEXMART and RoDyMan projects reveal that synergies are the key for simplification and optimization of control and design for robotic and prosthetic hands, implying dimensionality reduction of grasp synthesis and control parameters for manipulation as well as simplification of the actuation system. Finally, intelligent design of underactuated and sensorized artificial robotics and prosthetic hands with smart control solutions are also under investigation.
The second research area is pursued by the team of ICAROS (Interdepartmental Center for Advances in RObotic Surgery) composed by three Departments of the School of Engineering and of the School of Medicine and Surgery of the University of Naples Federico II. The ongoing research deals with clinical and surgical activities, surgeons training and development of new technologies for robotic surgery and bioengineering. The da Vinci Research Kit at ICAROS center and other robotic platforms at PRISMA Lab are available for student theses on the development of augmented reality (AR) platforms to increase the sensory-motor capabilities of the surgeon in robot assisted laparoscopic surgery. To expand the surgeon's capability toward augmented performance and comfort in mini-invasive surgery, research is also devoted to the development of advanced vision-force sensing devices and stereo rendering, cutaneous haptic feedback devices on the surgeon fingertips, force sensors for surgical tool, force/impedance control strategies and cognitive surgical assistant systems (CoSA). Furthermore, an interesting filed of research is the development of software simulators of surgical procedures useful both for the surgeons training and for the design of new strategies for autonomous control of particular tasks such as robotic suturing. In this context, dense environment reconstruction, tracking and modeling of deformable objects are very important issues. Another important issue is the integration of friction models and collision detection algorithms to handle the collision between a soft body (deformable organ) and a rigid body (spatula) as well as their dynamic interaction. In surgical applications this can be the case of a clamp grabbing deformable organic material or of a spatula opening a brain fissure.