Oldfield, M. J., Dini, D., Giordano, G. and Rodriguez y Baena, F. M. Detailed finite element modelling of deep needle insertions into a soft tissue phantom using a cohesive approach. Computer Methods in Biomechanics and Biomedical Engineering, 2012.

Shamir R. R., Joskowicz L., Tamir I., Dabool E., Pertman L., Ben-Ami A., Shoshan Y. Reduced risk trajectory planning in image-guided keyhole neurosurgery Med Phys 39 (5), 2885 (2012).

Caborni C, Ko S Y, De Momi E, Ferrigno G and Rodriguez y Baena F.
Risk-Based Path Planning for a Steerable Flexible Probe for Neurosurgical Intervention
Proceedings of the 2012 4th IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome Italy, 2012. In press

D. De Lorenzo, A. Vaccarella, G. Khreis, H. Monnich, G. Ferrigno, E. De Momi Accurate calibration method for 3D freehand ultrasound probe using virtual plane Medical Physics 38(12): 6710-6720.

S. Y. Ko, L. Frasson and F. Rodriguez y Baena, Closed-Loop Planar Motion Control of a Steerable Probe with a “Programmable Bevel” Inspired by Nature. IEEE Transactions on Robotics, Vol. 27(5), pp. 970-983, 2011.

D. De Lorenzo, E. De Momi, R. Manganelli, I. Dyagilev, A. Formaglio, D. Prattichizzo, M. Shoham and G. Ferrigno, Force feedback in a piezoelectric linear actuator for neurosurgery, International Journal of Medical Robotics and Computer Assisted Surgery,7(3): 268-275.

R. Shamir and L. Joskowicz, Geometrical analysis of registration errors in point-based rigid-body registration using invariants, Medical Image Analysis, Vol 15, 2011.

G. Ferrigno, G. Baroni, F. Casolo, E. De Momi, G. Gini, M. Matteucci, A. Pedrocchi"Medical Robotics and Computer-Aided Therapy", IEEE PULSE, June 2011, 2:3, 55-61.

R. Shamir, L. Joskowicz, Y. Shoshan, Target and localization accuracy in keyhole image-guided keyhole neurosurgery, J. of Neurosurgery, 2011, Vol. 38, pp. 95-102.

A. Plate, A. Ahmadi, T. Klein, O. Pauly, N. Navab, K. Boetzel, An objective 3D-transcranial sonography method for detecting parkinson`s disease- a pilot study. 7. Parkinson Congress, German Parkinson Association (DPG), 10.-12.03.2011, Kiel, Germany, submitted.

C. Caborni, S.Y. Ko, E. De Momi, G. Ferrigno and F. Rodriguez y Baena "Curvilinear Path Planning for a Steerable Flexible Probe for Neurosurgical Intervention", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), submitted.

A. Vaccarella, G. Khreis, M. D. Comparetti, A. Cappelletti, E. De Momi, G. Ferrigno, Data acquisition architecture for 3D ultrasound: temporal calibration, Computer Assisted Radiology and Surgery (CARS2011), accepted.

A. Plate, A. Ahmadi, T. Klein, O. Pauly, N. Navab, K. Boetzel, Development of a 3D-transcranial sonography method for detecting Parkinson`s Disease (PD) - a pilot study. MDS 15th International Congress of Parkinson's Disease and Movement Disorders, June 5-9, 2011, Toronto, ON, Canada, accepted, to be published.

M. D. Comparetti, E. De Momi, M. Riechmann, A. Vaccarella and G. Ferrigno “Iterative robot pose correction for neurosurgical applications”, Proc. of the International Conference on Intelligent Robots and Systems (IROS’11), submitted.

M. D. Comparetti, A. Vaccarella, D. De Lorenzo, G. Ferrigno and E. De Momi “Multi-robotic approach for keyhole neurosurgery: the ROBOCAST project”, Proc. of the Joint Workshop on New technologies for Computer/Robot Assisted Surgery, pp: 1-4, 2011.

M. D. Comparetti, E. De Momi, A. Vaccarella, M. Riechmann and G. Ferrigno, Optically tracked multi-robot system for keyhole neurosurgery. Proceedings of International Conference on Robotics and Automation (ICRA2011, Shanghai), in press.

Caborni, C.; Ko, S. Y.; De Momi, E.; Ferrigno, G. & Rodriguez y Baena, F. Optimization of Rapidly-exploring Random Trees (RRT)-based Path Planning for a Neurosurgical Steerable Probe. The Hamlyn Symposium on Medical Robotics, 2011, in press.

A. Vaccarella, M. D. Comparetti, A. Enquobahrie, G.Ferrigno and E. De Momi "Sensors Management in Robotic Neurosurgery: the ROBOCAST project", 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), accepted.

R. Shamir, M. Horn, J. Mehrkens, Y. Shoshan, L. Joskowicz, N. Navab, Trajectory planning with augmented reality for improved risk assessment in image-guided keyhole neurosurgery. IEEE Int. Symp. on Biomedical Imaging, April 14-17, Chicago, USA,2011, submitted. 

M. D. Comparetti, M. Riechmann, A. Cappelletti, E. De Momi, A. Vaccarella, H. Wörn, G. Ferrigno, Pose correction algorithm for a robot in a neurosurgical application. International Journal of Computer Assisted Radiology and Surgery, Vol. 5, 2010, pp. 304–306.

G. Dogangil, B. L. Davies, F. Rodriguez y Baena, A Review of Medical Robotics for Minimally Invasive Soft Tissue Surgery, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine Volume 224, Number 5 / 2010 SPECIAL ISSUE ON IMAGE-GUIDED SURGERY, pages: 653- 679. http://journals.pepublishing.com/content/qx55256761m038w2/?p=8ce34a06cf484134863c7644e675d357π=5

A. Vaccarella, E. De Momi, P. Cerveri, IGSTK-based Application for Neurosurgical Robotics, Kitware Source - Software Developer's Quarterly, Issue 14 July 2010.
http://www.kitware.com/products/archive/kitware_quarterly0710.pdf

R. R. Shamir, L. Joskowicz, L. Antiga; R. I. Foroni; Y. Shoshan, Trajectory planning method for reduced patient risk in image-guided neurosurgery: concept and preliminary results, in Proceedings Vol. 7625, Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling, Kenneth H. Wong; Michael I. Miga, Editors, 76250I http://spie.org/x648.html?product_id=843991

Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine Volume 224, Number 5 / 2010 SPECIAL ISSUE ON IMAGE-GUIDED SURGERY  pages 607 -727  published May 2010 Guest Editor:  Patrick Finlay  http://journals.pepublishing.com/content/k08181268130/

E. De Momi, G. Ferrigno, Robotic and artificial intelligence for keyhole neurosurgery: the ROBOCAST project, a multi-modal autonomous path planner, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine Volume 224, Number 5 / 2010 SPECIAL ISSUE ON IMAGE-GUIDED SURGERY, pages :715-727. http://journals.pepublishing.com/content/n7l46925780l512u/?p=8ce34a06cf484134863c7644e675d357π=8

P.L. Yen, B.L. Davies, Active constraint control for image-guided robotic surgery, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine Volume 224, Number 5 / 2010 SPECIAL ISSUE ON IMAGE-GUIDED SURGERY, pages: 623 – 631. http://journals.pepublishing.com/content/r462511737113563/?p=8ce34a06cf484134863c7644e675d357π=2

L. Frasson, S. Y. Ko, A. Turner, T. Parittotokkaporn, J. F. Vincent, F. Rodriguez y Baena, STING: a soft-tissue intervention and neurosurgical guide to access deep brain lesions through curved trajectories, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine (2010) vol. 224, No. 6, pp 775-788, 10.1243/09544119JEIM663

L. Frasson, B. Davies, F. Rodriguez y Baena, Proof-of-Concept and design optimization of STING, a bio-inspired flexible and steerable probe for soft tissue surgery. Medical Robotics: Robotic Surgery and Robotic Rehabilitation, Reading, UK, September 14-16, 2010.

A. Ahmadi, F. Pisana, E. De Momi, N. Navab, G. Ferrigno, User friendly graphical user interface for workflow management during navigated robotic-assisted keyhole neurosurgery. Computer Assisted Radiology (CARS), 24th International Congress and Exhibition, Geneva, CH, June 2010

S. Y. Ko, B. Davies, F. Rodriguez y Baena, A bio-inspired flexible probe for soft tissue surgery: two-dimensional closed-loop steering control.  Medical Robotics: Robotic Surgery and Robotic Rehabilitation, Reading, UK, September 14-16, 2010.

R. Shamir, L. Joskowicz, Y. Shoshan, A method for planning safe trajectories in image-guided keyhole neurosurgery, Proc. 13th Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, Beijing, China, Sept 2010.

A. Vaccarella, P. Cerveri, E. De Momi, G. Ferrigno, A new IGSTK-based architecture for the integration of multimodal sensors and robots in neurosurgical robotics applications, Computer Assisted Radiology and Surgery 24th International Congress and Exhibition (CARS 2010), 23-26 June 2010, Geneva, Switzerland.

S. Y. Ko, L. Frasson, B. L. Davies and F. Rodriguez y Baena, Software & Hardware Integration of a Biomimetic Flexible Probe within the ROBOCAST Neurosurgical Robotic Suite, The Hamlyn Symposium, London, 2010.

E. S. Nobari, B. L. Davies and F. Rodriguez y Baena, Dynamic Modeling of a Multipart Probe for Soft Tissue Intervention: Simulation Preliminaries, The Hamlyn Symposium, London, 2010.

G. Ferrigno, ROBOCAST: complete robotic system for planning and execution of brain biopsies and therapy, 2010 IEEE International Conference on Robotics and Automation, Workshop ICRA 2010 on Advanced surgical service robotics in the European Union 6th and 7th Framework Projects

D. De Lorenzo, E. de Momi, G. Ferrigno, Fiducial localization error propagation in optically tracked hand-eye calibrated medical robots, Congresso Nazionale di Bioingegneria 2010, Bologna

D. De Lorenzo, R. Manganelli, I. Dyagilev, A. Formaglio, E. De Momi, D. Prattichizzo, M. Shoham and G. Ferrigno, Miniaturized rigid probe driver with haptic loop control for neurosurgical interventions, IEEE BIOROB 2010, Tokyo, September 2010

A. Plate, A. Ahmadi, T. Klein, N. Navab, J. Weisse, K. Boetzel, Towards a More Objective Visualization of the Midbrain and its Surroundings Using 3D Transcranial Ultrasound. 54. Jahrestagung der Deutschen Gesellschaft für Klinische Neurophysiologie und Funktionelle Bildgebung (DGKN), 2010.

S. Y. Ko, B. L. Davies, F. Rodriguez y Baena, Two-Dimensional Needle Steering with a “Programmable Bevel” Inspired by Nature: Modeling Preliminaries. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 2319-2324, Taipei, Taiwan, October 18-22, 2010.

Y. Myers and L. Joskowicz, Uncertain geometry with dependencies, Proc. 14th ACM Symp. on Solid and Physical Modeling, Haifa, Israel, 2010.

R.R. Shamir, L. Joskowicz, Y. Shoshan, What is the actual fiducial localization error in image-guided neuronavigation?  Proc. 24th Int. Conf. Computer-Assisted Radiology and Surgery, Geneva, Switzerland, 2010.

Ahmadi, S.-A.; Klein, T.; Navab, N.; Roth, R.; Shamir, R.R.; Joskowicz, L.; DeMomi, E.; Ferrigno, G.; Antiga, L.; Foroni, R.I., Advanced planning and intra-operative validation for robot-assisted keyhole neurosurgery In ROBOCAST, Advanced Robotics, 2009. ICAR 2009. International Conference on, vol., no., pp.1-7, 22-26 June 2009, link

P. Tirelli, E. De Momi, N. A. Borghese, G. Ferrigno, An intelligent atlas-based planning system for keyhole neurosurgery, International Journal of Computer Assisted Radiology and Surgery (JCARS), (2009), Volume 4, pp 85-9, DOI  - 10.1007/s11548-009-0324-z

Semmoloni, J.   Manganelli, R.   Formaglio, A.   Prattichizzo, D., Control design issues for a microinvasive neurosurgery teleoperator system, Advanced Robotics, 2009. ICAR 2009. International Conference on (2009), ISBN: 978-1-4244-4855-5

De Momi, E., Cerveri, P., Ferrigno, G., ROBOt and sensors integration for computer assisted surgery and therapy (ICT-2007-215190-ROBOCAST), Advanced Robotics, 2009. ICAR 2009. International Conference on, vol., no., pp.1-6, 22-26 June 2009, link

R. Shamir, L. Joskowicz, S. Spektor and Y. Shoshan, Localization and registration accuracy in image guided neurosurgery: a clinical study, International Journal of Computer Assisted Radiology and Surgery (IJCARS), 4(1): 45-52, January 2009

Reuben R. Shamir, Leo Joskowicz, and Yigal Shoshan, Optimal landmarks selection and fiducial marker placement for minimal target registration error in image-guided neurosurgery, Proc. SPIE 7261, 72612N (2009), DOI:10.1117/12.810897

R. Shamir, L. Joskowicz, S. Spektor, Y. Shoshan, Target and trajectory localization accuracy in navigated keyhole neurosurgery, Int. Journal of Computer Assisted Radiology  and Surgery, Vol 4 Supplement 1, June 2009 S249-250

Reuben R. Shamir and Leo Joskowicz, Worst-case analysis of target localization errors in fiducial-based rigid body registration, Proc. SPIE 7259, 725938 (2009), DOI:10.1117/12.811038

S. A. Ahmadi, T. Klein and N. Navab, Advanced Planning and Ultrasound Guidance for Keyhole Neurosurgery,Russian Bavarian Conference (RBC 2009)

Brian Davies, Biorobotics in Keyhole Neurosurgery – towards the accurate targeting of deep lesions
through curved trajectories, CASH 2009

F. Rodriguez y Baena, Biorobotics in Keyhole Neurosurgery – towards the accurate targeting of deep lesions through curved trajectories, 6th International Conference on computer Aided Surgery around the Head, 4-7/11/2009, Paris, France

I. Dyagilev, M. Shoham, ROBOCAST: Development of Robotic System for Neurosurgery,ISRACAS'2009

E. De Momi, P. Cerveri, G. Ferrigno, ROBOt and sensors integration for computer assisted surgery and therapy (ICT-2007-215190-ROBOCAST),ICAR2009. International Conference on Advanced Robotics

R. Shamir, M. Horn, J. Mehrkens, Y. Shoshan, L. Joskowicz, N. Navab, Trajectory planning with augmented reality for improved risk assessment in image-guided keyhole neurosurgery, IEEE Int. Symp. on Biomedical Imaging, April 14-17, Chicago, USA, 2011, submitted. 

ROBOCAST’s development includes a flexible probe able to follow curvilinear trajectories within soft tissue, inclusive of an open architecture for command and communication, redesigned actuators and position tracking of the probe tip by means of electro-magnetic sensing technology. The intention of these research activities is to further the development of a novel biologically inspired design, the background IP for which was a part of the grant application. A patent was filed in 2009 covering this background IP and work is ongoing with ROBOCAST to further develop the potential for robotic surgical tools. Details of the patent application are as follows: “Steerable Probes”, Filing Date: 30th November 2009; Patent Application number: GB 0920938.8.”

• R.R. Shamir, L. Joskowicz, S. Spektor, Y. Shoshan,  Localization and registration accuracy in image-guided neurosurgery: a clinical study, CARS '08R.R.
  

• Shamir, L. Joskowicz, S. Spektor, Y. Shoshan, On the relation between the target and the fiducial registration errors in image-guided surgery, CARS '08

• R.R. Shamir, On the relation between the target and the fiducial registration errors in image-guided surgery, 5th International Conference on Computer Aided Surgery around the Head, CAS-H'08 - Leipzig (Germany)

• R.R. Shamir, Localization error in image-guided neurosurgery registration: a clinical study, 11th Israeli Symposium on Computer-Aided Surgery, Medical Robotics, and Medical Imaging, ISRACAS'08 - Tel Aviv (Israel)

• L. Joskowicz,  Recent advances in robotic and image-guided navigation in neurosurgery, 2nd Innovation Symposium: Hebrew University - Buenos Aires (Argentina)

• L. Joskowicz, Computer-Aided Surgery, 9th Mexican Symposium on Computer Aided Surgery and medical Image Processing, MEXCAS'08 - Mexico City

• L. Joskowicz, Real-time intraoperative navigation in neurosurgery, 1st Peter Brojde Meeting for innovation in Engineering and Computer Science – Jerusalem

• D. Prattichizzo, Stability Analysis and Design of Multi-dimensional Haptic Systems, IEEE Meeting - Reno (Usa)

• D. Prattichizzo, Research in Haptics at the SIRS Lab of the Siena University, ICRA 2008 Meeting - University of California, Santa Barbara (Usa)

• M. De Pascale, Robotics and Surgery: the ROBOCAST Project, Eurohaptics 2008 Conference - Madrid (Spain)

• A. Formaglio, Research in Haptics at the SIRS Lab of the Siena University, SIDRA Conference - Vicenza (Italy)

• S. Mulatto, A. Formaglio, Human Grasp: Simulazione Aptico Visuale ad Alto Realismo per Applicazioni Mediche, MIMOS 2008 Workshop - Roma (Italy)

• A. Formaglio, S. Mulatto, Robotics and Surgery: the ROBOCAST Project, View Conference 2008 - Torino (Italy)

• F. Morbidi, Stability and passivity for teleoperation systems, 47th IEEE Conference on Decision and Control - Cancun (Mexico)

• N. Navab, Action-and Workflow-driven Augmented Reality for Computer Aided Medical Procedures, 9th Mexican Symposium on Computer Aided Surgery and Medical ImageProcessing / MEXCAS 2008

• N. Navab, Medical Augmented Reality And Image Guidance: Challenges for Real-Time Vision, Computer Graphics and Mobile Computing, Keynote speech, MICCAI 2008 workshop on Image Guidance and Computer Assistance for Soft-Tissue Interventions, IGSTI08