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Journal Articles

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2024
[j20]
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Maarten Schoovaerts, Mouloud Ourak, Gianni Borghesan, Tristan Putzeys, Emmanuel B. Vander Poorten, Nicolas Verhaert:
OCT-based intra-cochlear imaging and 3D reconstruction: ex vivo validation of a robotic platform. Int. J. Comput. Assist. Radiol. Surg. 19(5): 917-927 (2024)
2023
[j19]
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Ruixuan Li, Ayoob Davoodi, Yuyu Cai, Kenan Niu, Gianni Borghesan, Nicola Cavalcanti, Aidana Massalimova, Fabio Carrillo, Christoph J. Laux, Mazda Farshad, Philipp Fürnstahl, Emmanuel B. Vander Poorten:
Robot-assisted ultrasound reconstruction for spine surgery: from bench-top to pre-clinical study. Int. J. Comput. Assist. Radiol. Surg. 18(9): 1613-1623 (2023)
[j18]
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Xuan Thao Ha, Di Wu, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel B. Vander Poorten:
Sensor Fusion for Shape Reconstruction Using Electromagnetic Tracking Sensors and Multi-Core Optical Fiber. IEEE Robotics Autom. Lett. 8(7): 4076-4083 (2023)
[j17]
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Xuan Thao Ha, Di Wu, Mouloud Ourak, Gianni Borghesan, Jenny Dankelman, Arianna Menciassi, Emmanuel B. Vander Poorten:
Shape Sensing of Flexible Robots Based on Deep Learning. IEEE Trans. Robotics 39(2): 1580-1593 (2023)
2022
[j16]
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Caspar Gruijthuijsen, Luis C. García-Peraza-Herrera, Gianni Borghesan, Dominiek Reynaerts, Jan Deprest, Sébastien Ourselin, Tom Vercauteren, Emmanuel B. Vander Poorten:
Robotic Endoscope Control Via Autonomous Instrument Tracking. Frontiers Robotics AI 9: 832208 (2022)
[j15]
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Xuan Thao Ha, Di Wu, Chun-Feng Lai, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel B. Vander Poorten:
Contact Localization of Continuum and Flexible Robot Using Data-Driven Approach. IEEE Robotics Autom. Lett. 7(3): 6910-6917 (2022)
[j14]
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Di Wu, Xuan Thao Ha, Yao Zhang, Mouloud Ourak, Gianni Borghesan, Kenan Niu, Fabian Trauzettel, Jenny Dankelman, Arianna Menciassi, Emmanuel B. Vander Poorten:
Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter. IEEE Robotics Autom. Lett. 7(4): 8853-8860 (2022)
2021
[j13]
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Beatriz Farola Barata, Phuong Toan Tran, Gianni Borghesan, Keir McCutcheon, Diego Dall'Alba, Paolo Fiorini, Jos Vander Sloten, Emmanuel B. Vander Poorten:
IVUS-Based Local Vessel Estimation for Robotic Intravascular Navigation. IEEE Robotics Autom. Lett. 6(4): 8102-8109 (2021)
[j12]
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Qiao Qiao, Gianni Borghesan, Joris De Schutter, Emmanuel B. Vander Poorten:
Force from Shape - Estimating the Location and Magnitude of the External Force on Flexible Instruments. IEEE Trans. Robotics 37(5): 1826-1833 (2021)
2019
[j11]
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Mouloud Ourak, Jonas Smits, Laure Esteveny, Gianni Borghesan, A. Gijbels, Laurent Schoevaerdts, Yanick Douven, Jesse Scholtes, Eva Lankenau, Tim Eixmann, Hinnerk Schulz-Hildebrandt, Gereon Hüttmann, Miklós Kozlovszky, Gernot Kronreif, Koen Willekens, Peter Stalmans, K. Faridpooya, Matteo Cereda, A. Giani, G. Staurenghi, Dominiek Reynaerts, Emmanuel B. Vander Poorten:
Combined OCT distance and FBG force sensing cannulation needle for retinal vein cannulation: in vivo animal validation. Int. J. Comput. Assist. Radiol. Surg. 14(2): 301-309 (2019)
[j10]
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Cristian Alejandro Vergara Perico, Gianni Borghesan, Erwin Aertbeliën, Joris De Schutter:
Incorporating artificial skin signals in the constraint-based reactive control of human-robot collaborative manipulation tasks. Ind. Robot 46(3): 360-368 (2019)
[j9]
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Caspar Gruijthuijsen, Gianni Borghesan, Dominiek Reynaerts, Emmanuel B. Vander Poorten:
A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery. IEEE Robotics Autom. Lett. 4(3): 3029-3036 (2019)
[j8]
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Laurent Schoevaerdts, Gianni Borghesan, Mouloud Ourak, Dominiek Reynaerts, Emmanuel B. Vander Poorten:
Electrical Bio-Impedance Proximity Sensing for Vitreo-Retinal Micro-Surgery. IEEE Robotics Autom. Lett. 4(4): 4086-4093 (2019)
[j7]
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Sergio Portolés Diez, Gianni Borghesan, Luc Joyeux, Christel Meuleman, Jan Deprest, Danail Stoyanov, Sébastien Ourselin, Tom Vercauteren, Dominiek Reynaerts, Emmanuel B. Vander Poorten:
Evaluation of Haptic Feedback on Bimanually Teleoperated Laparoscopy for Endometriosis Surgery. IEEE Trans. Biomed. Eng. 66(5): 1207-1221 (2019)
2018
[j6]
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Gianni Borghesan, Mouloud Ourak, Eva Lankenau, Gereon Hüttmann, Hinnerk Schulz-Hildebrandt, Koen Willekens, Peter Stalmans, Dominiek Reynaerts, Emmanuel B. Vander Poorten:
Single Scan OCT-Based Retina Detection for Robot-Assisted Retinal Vein Cannulation. J. Medical Robotics Res. 3(2): 1840005:1-1840005:13 (2018)
2016
[j5]
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Gabrijel Smoljkic, Gianni Borghesan, Alain Devreker, Emmanuel B. Vander Poorten, Benoit Rosa, Herbert De Praetere, Joris De Schutter, Dominiek Reynaerts, Jos Vander Sloten:
Control of a hybrid robotic system for computer-assisted interventions in dynamic environments. Int. J. Comput. Assist. Radiol. Surg. 11(7): 1371-1383 (2016)
[j4]
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Gianni Borghesan, Enea Scioni, Abderrahmane Kheddar, Herman Bruyninckx:
Introducing Geometric Constraint Expressions Into Robot Constrained Motion Specification and Control. IEEE Robotics Autom. Lett. 1(2): 1140-1147 (2016)
2015
[j3]
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Gabrijel Smoljkic, Gianni Borghesan, Dominiek Reynaerts, Joris De Schutter, Jos Vander Sloten, Emmanuel B. Vander Poorten:
Constraint-Based Interaction Control of Robots Featuring Large Compliance and Deformation. IEEE Trans. Robotics 31(5): 1252-1260 (2015)
2012
[j2]
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Gianluca Palli, Gianni Borghesan, Claudio Melchiorri:
Modeling, Identification, and Control of Tendon-Based Actuation Systems. IEEE Trans. Robotics 28(2): 277-290 (2012)
2010
[j1]
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Gianni Borghesan, Alessandro Macchelli, Claudio Melchiorri:
Interconnection and Simulation Issues in Haptics. IEEE Trans. Haptics 3(4): 266-279 (2010)

Conference and Workshop Papers

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2024
[c26]
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Ayoob Davoodi, Ruixuan Li, Kaat Van Assche, Maikel Timmermans, Matthias Tummers, Gianni Borghesan, Kathleen Denis, Emmanuel B. Vander Poorten:
All-Ultrasound-Guided Path Planning for Robotic Pedicle Screw Placement. BioRob 2024: 641-647
2023
[c25]
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  - conf/aimech/CarlierGRBCGSK23
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Rémy Carlier, Joris Gillis, Erwin Rademakers, Gianni Borghesan, Pieter De Clercq, Chris Ganseman, Kurt Stockman, Jeroen D. M. De Kooning:
A Digital Twin Framework for Virtual Re-Commissioning of Work-Drive Systems Using CAD-based Motion Co-Simulation. AIM 2023: 119-124
[c24]
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Ayoob Davoodi, Ruixuan Li, Yuyu Cai, Kenan Niu, Gianni Borghesan, Emmanuel B. Vander Poorten:
A Comparative Study for Control of Semi-Automatic Robotic-Assisted Ultrasound System in Spine Surgery. ICAR 2023: 303-310
2022
[c23]
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Xuan Thao Ha, Izadyar Tamadon, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel B. Vander Poorten:
Comparative Study on Electromagnetic Tracking and Fiber Bragg Grating-based Catheter Shape Sensing. IEEE SENSORS 2022: 1-4
[c22]
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Jef De Smet, Gianni Borghesan, Emmanuel B. Vander Poorten:
Accurate Pose Estimation for Comanipulation Robotic Surgery. IROS 2022: 8064-8071
2019
[c21]
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Qiao Qiao, Dries Willems, Gianni Borghesan, Mouloud Ourak, Joris De Schutter, Emmanuel B. Vander Poorten:
Estimating and Localizing External Forces Applied on Flexible Instruments by Shape Sensing. ICAR 2019: 227-233
[c20]
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  - conf/icar/CornelissenOBRP19
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Philip Cornelissen, Mouloud Ourak, Gianni Borghesan, Dominiek Reynaerts, Emmanuel B. Vander Poorten:
Towards Real-time Estimation of a Spherical Eye Model based on a Single Fiber OCT. ICAR 2019: 666-672
2018
[c19]
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Cristian Alejandro Vergara Perico, Gianni Borghesan, Erwin Aertbeliën, Joris De Schutter:
Incorporating Artificial Skin Signals in the Constraint-based Reactive Control of Human-Robot Collaborative Manipulation Tasks. ICARM 2018: 280-287
[c18]
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Laurent Schoevaerdts, Laure Esteveny, Gianni Borghesan, Mouloud Ourak, Andy Gijbels, Jonas Smits, Dominiek Reynaerts, Emmanuel B. Vander Poorten:
Innovative Bio-Impedance Sensor Towards Puncture Detection in Eye Surgery for Retinal Vein Occlusion Treatment. ICRA 2018: 1-6
[c17]
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Jonas Smits, Mouloud Ourak, Andy Gijbels, Laure Esteveny, Gianni Borghesan, Laurent Schoevaerdts, Koen Willekens, Peter Stalmans, Eva Lankenau, Hinnerk Schulz-Hildebrandt, Gereon Hüttmann, Dominiek Reynaerts, Emmanuel B. Vander Poorten:
Development and Experimental Validation of a Combined FBG Force and OCT Distance Sensing Needle for Robot-Assisted Retinal Vein Cannulation. ICRA 2018: 129-134
2015
[c16]
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Enea Scioni, Gianni Borghesan, Herman Bruyninckx, Marcello Bonfè:
Bridging the gap between discrete symbolic planning and optimization-based robot control. ICRA 2015: 5075-5081
2014
[c15]
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Sergio Portolés Diez, Emmanuel B. Vander Poorten, Gianni Borghesan, Dominiek Reynaerts:
Towards Palpation in Virtual Reality by an Encountered-Type Haptic Screen. EuroHaptics (1) 2014: 257-265
[c14]
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Gianni Borghesan, Erwin Aertbeliën, Joris De Schutter:
Constraint- and synergy-based specification of manipulation tasks. ICRA 2014: 397-402
[c13]
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Gianni Borghesan, Joris De Schutter:
Constraint-based specification of hybrid position-impedance-force tasks. ICRA 2014: 2290-2296
[c12]
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Enea Scioni, Gianni Borghesan, Herman Bruyninckx, Marcello Bonfè:
A framework for formal specification of robotic constraint-based tasks and their concurrent execution with online qos monitoring. IROS 2014: 2963-2969
2012
[c11]
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Gianni Borghesan, Bert Willaert, Joris De Schutter:
A constraint-based programming approach to physical human-robot interaction. ICRA 2012: 3890-3896
[c10]
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Gianni Borghesan, Bert Willaert, Tinne De Laet, Joris De Schutter:
Teleoperation in Presence of Uncertainties: A Constraint-Based Approach. SyRoCo 2012: 385-392
2011
[c9]
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Gianni Borghesan, Gianluca Palli, Claudio Melchiorri:
Friction compensation and virtual force sensing for robotic hands. ICRA 2011: 4756-4761
2010
[c8]
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Gianni Borghesan, Gianluca Palli, Claudio Melchiorri:
Design of tendon-driven robotic fingers: Modeling and control issues. ICRA 2010: 793-798
[c7]
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Gianluca Palli, Gianni Borghesan, Claudio Melchiorri:
Friction and visco-elasticity effects in tendon-based transmission systems. ICRA 2010: 3890-3895
2009
[c6]
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Jordi Artigas, Carsten Preusche, Gerd Hirzinger, Gianni Borghesan, Claudio Melchiorri:
Bilateral Energy Transfer for high fidelity haptic telemanipulation. WHC 2009: 488-493
[c5]
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Gianluca Palli, Gianni Borghesan, Claudio Melchiorri:
Tendon-based transmission systems for robotic devices: Models and control algorithms. ICRA 2009: 4063-4068
[c4]
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Giovanni Berselli, Gianni Borghesan, M. Brandi, Claudio Melchiorri, Ciro Natale, Gianluca Palli, Salvatore Pirozzi, Gabriele Vassura:
Integrated Mechatronic Design for a New Generation of Robotic Hands. SyRoCo 2009: 8-13
2008
[c3]
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Gianni Borghesan, Claudio Melchiorri:
Model and Modeless Friction Compensation: Application to a Defective Haptic Interface. EuroHaptics 2008: 94-103
[c2]
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Jordi Artigas, Carsten Preusche, Gerd Hirzinger, Gianni Borghesan, Claudio Melchiorri:
Bilateral energy transfer in delayed teleoperation on the time domain. ICRA 2008: 671-676
2007
[c1]
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Gianni Borghesan, Alessandro Macchelli, Claudio Melchiorri:
Simulation Issues in Haptics. ICRA 2007: 111-116

Informal and Other Publications

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2021
[i1]
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Caspar Gruijthuijsen, Luis C. García-Peraza-Herrera, Gianni Borghesan, Dominiek Reynaerts, Jan Deprest, Sébastien Ourselin, Tom Vercauteren, Emmanuel B. Vander Poorten:
Autonomous Robotic Endoscope Control based on Semantically Rich Instructions. CoRR abs/2107.02317 (2021)

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