Position innerhalb des Seitenbaumes

Giuliano Giacoppo

Herr M.Sc.

Wissenschaftlicher Mitarbeiter
Institut für Medizingerätetechnik

Kontakt

+49 711 685 61652
E-Mail

Pfaffenwaldring 9
70569 Stuttgart
Deutschland
Raum: 3.201

Publikationen

G. A. Giacoppo, J. Mayer, J. Hartmann, A. L. Bachmann, und P. P. Pott, „Actively shielded capacitive proximity sensor for endoscopy“, Current Directions in Biomedical Engineering, Bd. 9, Nr. 1, Art. Nr. 1, 2023, doi: doi:10.1515/cdbme-2023-1024.
- BibTeX
BibTeX
@article{GiacoppoMayerHartmannBachmannPott+2023+93+96, author = {Giacoppo, Giuliano A. and Mayer, Juliane and Hartmann, Julien and Bachmann, Ada L. and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2023-1024}, journal = {Current Directions in Biomedical Engineering}, number = 1, pages = {93--96}, title = {Actively shielded capacitive proximity sensor for endoscopy}, url = {https://doi.org/10.1515/cdbme-2023-1024}, volume = 9, year = 2023 }
J. Mayer, M. B. Schäfer, J. Liu, G. A. Giacoppo, T. Markert, S. Matich, P. Brunner, und P. P. Pott, „Hand-Held Device for Force Estimation during Tool-Tissue Interaction“, gehalten auf der ACTUATOR22, Mannheim, Juni 2022.
- Zusammenfassung
- BibTeX
Zusammenfassung
When manipulating tissue during medical interventions, high-accuracy movements are important to avoid injuries. However, feedback is limited and it is hard to establish control loops to ensure correct movements. We propose the use of a novel highly compact 6-axis force / torque sensor (Ø 10.5 mm x 11.0 mm) within a hand piece to determine low forces and torques during various small-scale procedures including gentle tool-tissue interaction. For a first validation of the system, different venepuncture cannulas were connected to the sensor top and driven into skinned fruits (toma-toes and grapes) as well as into a silicone block. During insertion of the needle tips, maximum forces of 74 – 158 mN (tomato) and 51 - 161 mN (grape) were recorded, and steadily increasing forces in the range of 0 – 250 mN when insert-ing needles 7.5 mm into silicone. For a 0.99 g screw nut (9.73 mN), the measured gravitational force was 10.6 ± 1.5 mN during ten measurement sets. During the insertion, needle torques of up to 9.5 mNm were observed. Different cutting phases were seen similar to the phases during needle penetration testing. We conclude that the compact measurement setup used is suitable to measure the low forces and torques occurring when cutting soft, aqueous human tissues with or without skin-like layers.
BibTeX
@inproceedings{mayer2022handheld, abstract = {When manipulating tissue during medical interventions, high-accuracy movements are important to avoid injuries. However, feedback is limited and it is hard to establish control loops to ensure correct movements. We propose the use of a novel highly compact 6-axis force / torque sensor (Ø 10.5 mm x 11.0 mm) within a hand piece to determine low forces and torques during various small-scale procedures including gentle tool-tissue interaction. For a first validation of the system, different venepuncture cannulas were connected to the sensor top and driven into skinned fruits (toma-toes and grapes) as well as into a silicone block. During insertion of the needle tips, maximum forces of 74 – 158 mN (tomato) and 51 - 161 mN (grape) were recorded, and steadily increasing forces in the range of 0 – 250 mN when insert-ing needles 7.5 mm into silicone. For a 0.99 g screw nut (9.73 mN), the measured gravitational force was 10.6 ± 1.5 mN during ten measurement sets. During the insertion, needle torques of up to 9.5 mNm were observed. Different cutting phases were seen similar to the phases during needle penetration testing. We conclude that the compact measurement setup used is suitable to measure the low forces and torques occurring when cutting soft, aqueous human tissues with or without skin-like layers.}, author = {Mayer, Juliane and Schäfer, Max B. and Liu, Jan and Giacoppo, Giuliano A. and Markert, Timo and Matich, Sebastian and Brunner, Pascal and Pott, Peter P.}, booktitle = {Proceedings of the ACTUATOR22}, eventdate = {29.-30.06.2022}, eventtitle = {ACTUATOR22}, month = {06}, title = {Hand-Held Device for Force Estimation during Tool-Tissue Interaction}, venue = {Mannheim}, year = 2022 }
G. A. Giacoppo, L. Schunter, und P. P. Pott, „Impact of the fiber cutting angle on fiber optic proximity sensors in endoscopy“, Current Directions in Biomedical Engineering, Bd. 8, Nr. 2, Art. Nr. 2, 2022, doi: doi:10.1515/cdbme-2022-1011.
- BibTeX
BibTeX
@article{GiacoppoSchunterPott+2022+37+40, author = {Giacoppo, Giuliano A. and Schunter, Lena and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2022-1011}, journal = {Current Directions in Biomedical Engineering}, number = 2, pages = {37--40}, title = {Impact of the fiber cutting angle on fiber optic proximity sensors in endoscopy}, url = {https://doi.org/10.1515/cdbme-2022-1011}, volume = 8, year = 2022 }
M. B. Schäfer, M. Waltner, G. A. Giacoppo, und P. P. Pott, „Steerable Flexible Laparoscope to Facilitate Camera Guidance During Minimally Invasive Procedures“, Current Directions in Biomedical Engineering, Bd. 8, Nr. 2, Art. Nr. 2, 2022, doi: doi:10.1515/cdbme-2022-1016.
- Zusammenfassung
- BibTeX
Zusammenfassung
In conventional laparoscopy, the field of view of the surgeon is limited. Angled laparoscopes enable the observation of surrounding structures, however, to change the viewing perspective on a specific object, permanent repositioning and rotation of the shaft is required. In this paper, a demonstrator of a steerable flexible laparoscope is presented, enabling the user to intuitively adjust the perspective onto an object by means of a single control element. The laparoscope provides a viewing angle of ± 50° at 50 mm working distance. In first tests, the presented laparoscope showed advantages regarding intuitiveness of the control, easier handling, and improved depth perception.
BibTeX
@article{SchäferWaltnerGiacoppoPott+2022+57+60, abstract = {In conventional laparoscopy, the field of view of the surgeon is limited. Angled laparoscopes enable the observation of surrounding structures, however, to change the viewing perspective on a specific object, permanent repositioning and rotation of the shaft is required. In this paper, a demonstrator of a steerable flexible laparoscope is presented, enabling the user to intuitively adjust the perspective onto an object by means of a single control element. The laparoscope provides a viewing angle of ± 50° at 50 mm working distance. In first tests, the presented laparoscope showed advantages regarding intuitiveness of the control, easier handling, and improved depth perception.}, author = {Schäfer, Max B. and Waltner, Madeleine and Giacoppo, Giuliano A. and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2022-1016}, journal = {Current Directions in Biomedical Engineering}, number = 2, pages = {57--60}, title = {Steerable Flexible Laparoscope to Facilitate Camera Guidance During Minimally Invasive Procedures}, url = {https://www.degruyter.com/document/doi/10.1515/cdbme-2022-1016/html}, volume = 8, year = 2022 }
M. B. Schäfer, J. G. Meiringer, J. Nawratil, L. Worbs, G. A. Giacoppo, und P. P. Pott, „Estimating Gripping Forces During Robot- Assisted Surgery Based on Motor Current“, Current Directions in Biomedical Engineering, Bd. 8, Nr. 1, Art. Nr. 1, 2022, doi: doi:10.1515/cdbme-2022-0027.
- Zusammenfassung
- BibTeX
Zusammenfassung
Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument’s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.
BibTeX
@article{SchäferMeiringerNawratilWorbsGiacoppoPott+2022+105+108, abstract = {Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument’s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.}, author = {Schäfer, Max B. and Meiringer, Johannes G. and Nawratil, Julia and Worbs, Lukas and Giacoppo, Giuliano A. and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2022-0027}, journal = {Current Directions in Biomedical Engineering}, number = 1, pages = {105--108}, title = {Estimating Gripping Forces During Robot- Assisted Surgery Based on Motor Current}, url = {https://www.degruyter.com/document/doi/10.1515/cdbme-2022-0027/html}, volume = 8, year = 2022 }
G. A. Giacoppo, A. L. Bachmann, und P. P. Pott, „Antagonistic twisted string actuation for disposable flexible medical robots“, gehalten auf der IKMT 2022, Linz, Austria, 2022.
- BibTeX
BibTeX
@inproceedings{giacoppo2022antagonistic, author = {Giacoppo, Giuliano A. and Bachmann, Ada L. and Pott, Peter P.}, eventdate = {14.-15.09.2022}, eventtitle = {IKMT 2022}, title = {Antagonistic twisted string actuation for disposable flexible medical robots}, venue = {Linz, Austria}, year = 2022 }
G. A. Giacoppo, M. B. Schäfer, und P. P. Pott, „Endurance Test Rig for Twisted String Actuators“, gehalten auf der IKMT 2022, Linz, Austria, 2022.
- BibTeX
BibTeX
@inproceedings{giacoppo2022endurance, author = {Giacoppo, Giuliano A. and Schäfer, Max B. and Pott, Peter P.}, eventdate = {14.-15.09.2022}, eventtitle = {IKMT 2022}, title = {Endurance Test Rig for Twisted String Actuators}, venue = {Linz, Austria}, year = 2022 }
A. L. Bachmann, G. A. Giacoppo, und P. P. Pott, „Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES)“, Current Directions in Biomedical Engineering, Bd. 8, Nr. 2, Art. Nr. 2, 2022, doi: doi:10.1515/cdbme-2022-1077.
- BibTeX
BibTeX
@article{BachmannGiacoppoPott+2022+301+304, author = {Bachmann, Ada L. and Giacoppo, Giuliano A. and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2022-1077}, journal = {Current Directions in Biomedical Engineering}, number = 2, pages = {301--304}, title = {Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES)}, url = {https://doi.org/10.1515/cdbme-2022-1077}, volume = 8, year = 2022 }
G. A. Giacoppo, A. L. Bachmann, und P. P. Pott, „A simple and powerful instrument for robotic flexible endoscopy“, in Proceedings of The 14th Hamlyn Symposium on Medical Robotics 2022, London, 2022, S. 13–14. doi: 10.31256/hsmr2022.7.
- BibTeX
BibTeX
@inproceedings{Giacoppo_2022, author = {Giacoppo, Giuliano A and Bachmann, Ada L and Pott, Peter P}, booktitle = {Proceedings of The 14th Hamlyn Symposium on Medical Robotics 2022}, doi = {10.31256/hsmr2022.7}, eventdate = {26 - 29th June 2022}, eventtitle = {The Hamlyn Symposium on Medical Robotics}, pages = {13-14}, title = {A simple and powerful instrument for robotic flexible endoscopy}, url = {https://doi.org/10.31256%2Fhsmr2022.7}, venue = {London}, year = 2022 }
G. A. Giacoppo, J. Meiringer, M. B. Schäfer, J. Mayer, M. da Silva, L. Finke, und P. P. Pott, „Influence of a fixed twisting zone on Twisted String Actuation“, gehalten auf der ACTUATOR22, Mannheim, 2022.
- BibTeX
BibTeX
@inproceedings{giacoppo2022influence, author = {Giacoppo, Giuliano A and Meiringer, Johannes and Schäfer, Max B and Mayer, Juliane and da Silva, Michael and Finke, Lars and Pott, Peter P}, booktitle = {ACTUATOR22}, eventdate = {29.-30.06.2022}, eventtitle = {ACTUATOR22}, title = {Influence of a fixed twisting zone on Twisted String Actuation}, venue = {Mannheim}, year = 2022 }
G. Giacoppo, A. Tzellou, J. Kim, H. Kim, D.-S. Kwon, K. Stewart, und P. Pott, „An optical colon contour tracking system for robot-aided colonoscopy Localization of a balloon in an image using Hough-Transformation“, 2021. doi: 10.1007/978-3-658-33198-6_17.
- BibTeX
BibTeX
@inproceedings{giacoppo2021optical, author = {Giacoppo, G and Tzellou, A and Kim, J and Kim, H and Kwon, D-S and Stewart, KW and Pott, PP}, doi = {10.1007/978-3-658-33198-6_17}, journal = {Workshop Bildverarbeitung für die Medizin, 7.-9.3.2021 OTH Regensburg}, title = {An optical colon contour tracking system for robot-aided colonoscopy Localization of a balloon in an image using Hough-Transformation}, year = 2021 }
D. Schlesiger, G. Giacoppo, M. B. Schäfer, und P. P. Pott, „Twisted string actuation with position feedback for robotic endoscopy“, Current Directions in Biomedical Engineering, 2021, doi: https://doi.org/10.1515/cdbme-2021-2087.
- Zusammenfassung
- BibTeX
Zusammenfassung
A twisted string actuator (TSA) is a small, strong, lightweight, and low-cost gear, transforming rotation into a linear pulling movement. The TSA consists of two or more strings that are twisted along their common longitudinal axis. The helix formed in this process becomes shorter the further the bundle is twisted. A possible application is a tendon-based endoscopic robot. To control the movement of the endoscope, a precise contraction of the tendon is necessary. Since the strings of the TSA show an elastic behaviour, position feedback is needed to determine the exact movement of the TSA. In this paper, a TSA with a closed-loop position control by a low-cost displacement sensor is presented.
BibTeX
@article{schlesiger2021twisted, abstract = {A twisted string actuator (TSA) is a small, strong, lightweight, and low-cost gear, transforming rotation into a linear pulling movement. The TSA consists of two or more strings that are twisted along their common longitudinal axis. The helix formed in this process becomes shorter the further the bundle is twisted. A possible application is a tendon-based endoscopic robot. To control the movement of the endoscope, a precise contraction of the tendon is necessary. Since the strings of the TSA show an elastic behaviour, position feedback is needed to determine the exact movement of the TSA. In this paper, a TSA with a closed-loop position control by a low-cost displacement sensor is presented.}, author = {Schlesiger, Davina and Giacoppo, Giuliano and Schäfer, Max B. and Pott, Peter P.}, doi = {https://doi.org/10.1515/cdbme-2021-2087}, journal = {Current Directions in Biomedical Engineering}, publisher = {De Gruyter}, title = {Twisted string actuation with position feedback for robotic endoscopy}, year = 2021 }
G. Giacoppo, R. Mammel, und P. P. Pott, „Finding the curved pathway of the large intestine for robot-aided colonoscopy“, Current Directions in Biomedical Engineering, 2021, doi: https://doi.org/10.1515/cdbme-2021-2055.
- Zusammenfassung
- BibTeX
Zusammenfassung
To assist the insertion of a robot-aided endoscope during colonoscopy, a measuring system is required so that the endoscope tip can align automatically and thus find the curved pathway of the large intestine. To achieve this, a self-expanding nitinol wire basket is used to sense the contour of the intestine. As the wire basket touches the wall, it is deflected towards the center of the intestine. The relative position of the wire basket within the camera image is captured, which describes the desired direction to follow the organ. To identify the wire basket in the image, the original RGB image stream is converted into the HSV (hue, saturation, value) color space. Thus, a binary image can be created, in which only the neon-green color portion of the wire basket is visible as a cross. The Hough Transformation is used to search for straight lines in the binary image. Once two lines are found, the intersection point can be calculated and thus its position in the image. The evaluation of the execution time of the algorithm on a live stream was 45 ± 31 ms on average. The algorithm robustly recognizes the wire basket even if it was not visible to the human eye in the original RGB image due to deficient lighting.
BibTeX
@article{giacoppo2021finding, abstract = {To assist the insertion of a robot-aided endoscope during colonoscopy, a measuring system is required so that the endoscope tip can align automatically and thus find the curved pathway of the large intestine. To achieve this, a self-expanding nitinol wire basket is used to sense the contour of the intestine. As the wire basket touches the wall, it is deflected towards the center of the intestine. The relative position of the wire basket within the camera image is captured, which describes the desired direction to follow the organ. To identify the wire basket in the image, the original RGB image stream is converted into the HSV (hue, saturation, value) color space. Thus, a binary image can be created, in which only the neon-green color portion of the wire basket is visible as a cross. The Hough Transformation is used to search for straight lines in the binary image. Once two lines are found, the intersection point can be calculated and thus its position in the image. The evaluation of the execution time of the algorithm on a live stream was 45 ± 31 ms on average. The algorithm robustly recognizes the wire basket even if it was not visible to the human eye in the original RGB image due to deficient lighting.}, author = {Giacoppo, Giuliano and Mammel, Rebecca and Pott, Peter P.}, doi = {https://doi.org/10.1515/cdbme-2021-2055}, journal = {Current Directions in Biomedical Engineering}, publisher = {De Gruyter}, title = {Finding the curved pathway of the large intestine for robot-aided colonoscopy}, year = 2021 }
G. Giacoppo und L. Krenkel, „Development of an isolated heart as physiological blood pump for hematological investigations in artificial lungs“, gehalten auf der 25th Congress of the European Society of Biomechanics, Vienna, Austria, 2019. [Online]. Verfügbar unter: https://esbiomech.org/conference/archive/2019vienna/Contribution_791.pdf
- BibTeX
BibTeX
@conference{giacoppo, author = {Giacoppo, Giuliano and Krenkel, Lars}, eventdate = {July 7-10}, eventtitle = {25th Congress of the European Society of Biomechanics}, organization = {European Society of Biomechanics}, publisher = {25th Congress of the European Society of Biomechanics}, title = {Development of an isolated heart as physiological blood pump for hematological investigations in artificial lungs }, url = {https://esbiomech.org/conference/archive/2019vienna/Contribution_791.pdf}, venue = {Vienna, Austria}, year = 2019 }

Lehre

Konstruktion in der Medizingerätetechnik

SFV HF-Chirurgie

Lebenslauf

2019 – Wissenschaftlicher Mitarbeiter am Institut für Medizingerätetechnik, Universität Stuttgart

2019 – M.Sc. Applied Research in Engineering Science, OTH Regensburg

Development of an isolated heart as physiological blood pump for hematological investigations in artificial lungs

2017 – B.Sc. Biomedical Engineering, OTH Regensburg

Development of a Sine Pump and analyzing the hemolysis during the pumping process

Betreute Abschlussarbeiten

Victoria Malhofer (BA0212); Konstruktion und Validierung eines Mechanismus für die distale Rotation eines flexiblen endoskopischen Instruments.

Eric Schulze (MA0207); Modellierung und Regelung eines Endoskopischen Instrumentes.

Charlotta Reetz (BA0206); Eine Twisted String Aktor Einheit mit Kraft- und Positionsrückmeldung zur Anwendung in der Endorobotik.

Sina Öztürk (MA0196); Integrierte Sensorik für einen Twisted String Antrieb.

Julia Hötzel (MA0186); Realisierung eines Pneumatischen Aktuators als 2-Komponenten-Bauteil mittels additiver Fertigung.

Leonhard Heinrich (BA0182); Ein monolithisches flexibles Endoskop mit 2K-3D-Druck.

Nail Isianov (SA0185); Identifizierung indiziengestützter Messsysteme zur Erfassung der Flüssigkeitszufuhr in den Körper.

Hannah Steiner (BA0161); Entwicklung eines Eingabegeräts für die robotergestützte flexible Endoskopie.

Giuseppe Mazzone (MA0159); Entwicklung einer robotischen Aktuierungseinheit für konventionelle flexible Endoskope.

Ada Bachmann (BA0154); Aufbau und Validierung eines motorisierten flexiblen Geweberetraktors.

Michael da Silva (BA0147); Konzeption und Aufbau eines kompakten, leichten Twisted String Antriebs für die flexible Endoskopie.

Dominik Schröck (MA0136); Aufbau eines robotergestützten flexiblen Endoskops und Entwicklung einer Steuereinheit.

Max Mischer (SA0128); Entwicklung eines modularen Prüfstandes zur Seilkraftmessung in geschlossenen Kraftsystemen für die robotergestützte Endoskopie.

Lena Schunter (SA0122); Entwicklung eines faser-optischen Näherungssensors für die minimalinvasive Anwendung.

Rebecca Mammel (SA0110); Entwicklung einer automatischen Konturverfolgung des Dickdarms für einen neuartigen Medizinroboter.

Davina Schlesiger (MA0096); Entwicklung eines TSA-Moduls mit EtherCAT-Kommunikation.

Lena Lachenmaier (SA0094); Biomedizinische Gewebecharakterisierung porziner Weichgewebe.

Anna Tzellou (BA0089); Entwicklung eines visuellen Ortungssystems zur Konturverfolgung mit einem Ballonkatheter für die robotergestützte Koloskopie.

Thilo Mayer (BA0085); Entwicklung eines optischen Systems zur Distanzmessung in der flexiblen Endoskopie.

Mahmoud Saad (SA0081); Entwicklung eines Abstandssensor für die Endoskopie.

Zhong Yueyang (MA0076); Entwicklung eines modularen Retraktorarms mit Twisted String Aktoren für die flexible Endoskopie.

Giuliano Giacoppo

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