Publications
2024
2023
Y. Tomooka, M. Karnam, M. Eugster, P. C. Cattin, and G. Rauter, “Disturbance Propagation Mitigation Between a Deployable Miniature Surgical Robot and Its Insertion Device,” in Advances in Mechanism and Machine Science (M. Okada, ed.), (Cham), pp. 800–809, Springer Nature Switzerland, 2023
Y. Tomooka, D. Spothelfer, A. Puiggali-Jou, C. Tourbier, E. B. Tankus, F. M. Thieringer, P. C. Cattin, G. Rauter, and M. Eugster, "Minimally invasive in situ bioprinting using tube-based material transfer", at - Automatisierungstechnik, vol. 71, no. 7, pp. 562-571, 2023.
M. Zelechowski, B. Faludi, M. Karnam, N. Gerig, G. Rauter, and P. C. Cattin, “Automatic patient positioning based on robot rotational workspace for extended reality,” International Journal of Computer Assisted Radiology and Surgery, pp. 1–9, 2023
2022
Y. Tomooka, G. Rauter, N. Gerig, R. Takeda, P. Cattin, and M. Eugster, “Bending stiffness variability between a deployable robotic laser osteotome and its insertion device,” Current Directions in Biomedical Engineering, vol. 8, no. 1, pp. 138–141, 2022 (Best Poster Award 1st Prize)
P. Krenn, M. Eugster, E. I. Zoller, N. F. Friederich, and G. Rauter, “Towards robotic surgery for cartilage replacement: A review on cartilage defects,” in New Trends in Medical and Service Robotics (G. Rauter, G. Carbone, P. C. Cattin, A. Zam, D. Pisla, and R. Riener, eds.), (Cham), pp. 125–136, Springer International Publishing, 2022
M. K. Nahhas, N. Gerig, J. C. T ̈urp, P. Cattin, E. Wilhelm, and G. Rauter, “Impact of ear occlusion on in-ear sounds generated by intra-oral behaviors,” in International Workshop on Medical and Service Robots, pp. 147–154, Springer, 2022
M. Eugster, “Robotic system for accurate minimally invasive laser osteotomy,” at - Automatisierung-stechnik, vol. 70, no. 7, pp. 676–678, 2022
G. Rauter, L. Fasel, M. Eugster, and N. Gerig, “Bio-inspired structural intelligence for miniature robots in minimal-invasive surgery,” in ROMANSY 24 - Robot Design, Dynamics and Control (A. Kecskem ethy and V. Parenti-Castelli, eds.), (Cham), pp. 37–40, Springer International Publishing, 2022
M. Eugster, C. Duverney, M. Karnam, N. Gerig, P. C. Cattin, and G. Rauter, “Robotic endoscope system for future application in minimally invasive laser osteotomy: First concept evaluation,” IEEE Transactions on Medical Robotics and Bionics, 2022
L. Fasel, N. Gerig, P. C. Cattin, and G. Rauter, “Control evaluation of antagonistic series elastic actuation for a robotic endoscope joint,” Journal of Bionic Engineering, Mar. 2022
R. Haji Hassani, M. Bannwart, M. Bolliger, T. Seel, R. Brunner, and G. Rauter, “Real-time motion onset recognition for robot-assisted gait rehabilitation,” Journal of NeuroEngineering and Rehabilitation, vol. 19, no. 1, pp. 1–14, 2022
M. Eugster, J.-P. Merlet, N. Gerig, P. C. Cattin, and G. Rauter, “Miniature parallel robot with submillimeter positioning accuracy for minimally invasive laser osteotomy,” Robotica, vol. 40, no. 4, pp. 1070–1097, 2022
2021
M. Eugster, E. Zoller, P. Krenn, S. Blache, N. F. Friederich, M. Müller-Gerbl, P. C. Cattin, and G. Rauter, "Quantitative Evaluation of the Thickness of the Available Manipulation Volume Inside the Knee Joint Capsule for Minimally Invasive Robotic Unicondylar Knee Arthroplasty," in IEEE Transactions on Biomedical Engineering, vol. 68, no. 8, pp. 2412-2422, 2021.
C. Duverney, H. Abbasi, M. Berkelaar, K. Pelttari, P. C. Cattin, A. Barbero, A. Zam, and G. Rauter, “Sterile Tissue Ablation Using Laser Light—System Design, Experimental Validation, and Outlook on Clinical Applicability,” ASME Journal of Medical Devices, vol. 15, 2021.
M. Zelechowski, M. Karnam, B. Faludi, N. Gerig, G. Rauter & P. C. Cattin, “Patient positioning by visualising surgical robot rotational workspace in augmented reality,” Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization, 2021.
M. Karnam, P. Cattin, G. Rauter, and N. Gerig, “Comparing cascaded real-time controllers for an extended KUKA LBR iiwa robot during physical human-robot interaction,” in Siebte IFToMM D-A-CH Konferenz, Technische Universit¨at Ilmenau, Feb. 2021
L. Fasel, N. Gerig, P. C. Cattin, and G. Rauter, “The SEA-scope: Torque-limited endoscopic joint control for telemanipulation or visual servoing through tendon force control with series elastic actuation,” in 2021 International Symposium on Medical Robotics (ISMR), IEEE, Nov. 2021
C. Duverney, H. Abbasi, L. M. Beltr´an Bernal, T. Stauber, J. G. Snedeker, P. C. Cattin, A. Zam, and G. Rauter, “Robot- and laser-assisted bio-sample preparation: Development of an integrated, intuitive system,” in Seventh Int. Workshop on Medical and Service Robots (MESROB2020), vol. 93 of Mechanisms and Machine Science, pp. 219–226, 2021.
2020
E. I. Zoller, N. Gerig, P. Cattin, and G. Rauter, “The functional rotational workspace of a humanrobot system can be influenced by adjusting the telemanipulator handle orientation,” IEEE Transactions on Haptics, 2020
E. I. Zoller, B. Faludi, N. Gerig, G. F. Jost, P. C. Cattin, and G. Rauter, “Force quantification and simulation of pedicle screw tract palpation using direct visuo-haptic volume rendering,” International Journal of Computer Assisted Radiology and Surgery, pp. 1–9, 2020
E. Wilhelm, F. Crivelli, N. Gerig, M. Kohler, and R. Riener, “The anti-snoring bed-a pilot study,” Sleep Science and Practice, vol. 4, no. 1, pp. 1–8, 2020
C. Meyer, U. S. Hofstoetter, M. Hubli, R. H. Hassani, C. Rinaldo, A. Curt, and M. Bolliger, “Immediate effects of transcutaneous spinal cord stimulation on motor function in chronic, sensorimotor incomplete spinal cord injury,” Journal of clinical medicine, vol. 9, no. 11, p. 3541, 2020
L. Iafolla, M. Filipozzi, S. Freund, A. Zam, G. Rauter, and P. C. Cattin, “Proof of concept of a novel absolute rotary encoder,” Sensors and Actuators A: Physical, vol. 312, p. 112100, Sept. 2020
F. L. Haufe, R. H. Hassani, R. Riener, and P. Wolf, “The insight crutches: Analyzing the role of arm support during robot-assisted leg movements,” IEEE Robotics & Automation Magazine, vol. 27, no. 1, pp. 103–113, 2020
M. Eugster, E. I. Zoller, P. Krenn, S. Blache, N. F. Friederich, M. Muller-Gerbl, P. C. Cattin, and G. Rauter, “Quantitative evaluation of the thickness of the available manipulation volume inside the knee joint capsule for minimally invasive robotic unicondylar knee arthroplasty,” IEEE Transactions on Biomedical Engineering, pp. 1–1, 2020
E. Basalp, P. Bachmann, N. Gerig, G. Rauter, and P. Wolf, “Configurable 3d rowing model renders realistic forces on a simulator for indoor training,” Applied Sciences, vol. 10, no. 3, p. 734, 2020
G. Rauter, “The MIRACLE,” in Lasers in Oral and Maxillofacial Surgery (S. St¨ubinger, F. Kl¨ampfl, M. Schmidt, and H.-F. Zeilhofer, eds.), pp. 247–253, Cham: Springer International Publishing, 2020
L. Fasel, N. Gerig, P. C. Cattin, and G. Rauter, “Tendon force control evaluation for an endoscope with series elastic actuation,” in International Workshop on New Trends in Medical and Service Robots (MESROB) 2020, pp. 118–126, Springer International Publishing, Nov. 2020 (Best Research Paper Silver Award)
M. Karnam, M. Eugster, R. Parini, P. C. Cattin, E. De Momi, G. Rauter, and N. Gerig, “Learned task space control to reduce the effort in controlling redundant surgical robots,” in New Trends in Medical and Service Robotics (G. Rauter, P. C. Cattin, A. Zam, R. Riener, G. Carbone, and D. Pisla, eds.), pp. 161–168, Springer, Nov. 2020 (Best Research Paper Gold Award)
M. Karnam, R. Parini, M. Eugster, P. Cattin, G. Rauter,and N. Gerig, “An intuitive interface for null space visualization and control ofredundant surgical robots”, In Proceedings on Automation in Medical Engineering (AUTOMED 2020), vol 1, Infinite Science Publishing, February 2020.
A. A. Ghavifekr, R. H. Hassani, and A. Calanca, “Designing adaptive nonlinear controller for optimal tracking of laparoscopic robotic arm with nonholonomic constraints,” in International Workshop on Medical and Service Robots, pp. 97–107, Springer, 2020
L. Fasel, S. Schraivogel, N. Gerig, N. F. Friederich, A. Zam, P. C. Cattin, and G. Rauter, “Visual servoing for tracking cartilage with a robotic endoscope,” In Proceedings on Automation in Medical Engineering (AUTOMED 2020), Vol 1, Infinite Science Publishing, February 2020. (2nd Place Best Paper Award)
M. Eugster, M. Oliveira Barros, P. C. Cattin, and G. Rauter, “Design evaluation of a stabilized, walking endoscope tip,” in New Trends in Medical and Service Robotics (G. Rauter, P. C. Cattin, A. Zam, R. Riener, G. Carbone, and D. Pisla, eds.), pp. 127–135, Springer, Nov. 2020
2019
G. Rauter, N. Gerig, R. Sigrist, R. Riener, and P. Wolf, “When a robot teaches humans: Automated feedback selection accelerates motor learning,” Science Robotics, vol. 4, no. 27, p. eaav1560, Feb. 2019.
N. Gerig, E. Basalp, R. Sigrist, R.Riener, and P. Wolf, "Visual error amplification showed no benefit for non-naïve subjects in trunk-arm rowing,” in Current Issues in Sport Science, 2019.
E. I. Zoller, P. C. Cattin, A. Zam, G. Rauter, “Assessment of the Functional Rotational Workspace of Different Grasp Type Handles for the lambda.6 Haptic Device,” 2019 IEEE World Haptics Conference (WHC), pp. 127-132, 2019.
B. Faludi, E. I. Zoller, N. Gerig, A. Zam, G. Rauter, P. C. Cattin, “Direct Visual and Haptic Volume Rendering of Medical Data Sets for an Immersive Exploration in Virtual Reality,” in International Conference on Medical Image Computing and Computer-Assisted Intervention – MICCAI 2019, LNCS 11768, pp. 29-37, 2019.
E. I. Zoller, P. Salz, P. C. Cattin, A. Zam, G. Rauter, “Development of Different Grasp Type Handles for a Haptic Telemanipulator,” in Proceedings of the 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2019), pp. 22-23, 2019.
2018
L. M. B. Bernal, I. T. Schmidt, N. Vulin, J. Widmer, J. G. Snedeker, P. C. Cattin, A. Zam, and G. Rauter, “Optimizing controlled laser cutting of hard tissue (bone),” at-Automatisierungstechnik, vol. 66, pp. 1072–1082, Nov. 2018
I. Suˇsi´c, , P. Cattin, A. Zam, and G. Rauter, “Versatile, force range-adjustable, tri-axial force sensor with integrated micro camera for the tip of endoscopic devices,” in The Hamlyn Symposium on Medical Robotics, The Hamlyn Centre, Faculty of Engineering, Imperial College London, June 2018
H. K. Nguendon Kenhagho, G. Rauter, R. Guzman, P. C. Cattin , and A. Zam, “Comparison of acoustic shock waves generated by micro and nanosecond lasers for a smart laser surgery system,” in Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVI, 2018
M. Eugster, E. I. Zoller, L. Fasel, P. C. Cattin, N. Friederich, A. Zam, and G. Rauter, “Contact force estimation for minimally invasive robot-assisted laser osteotomy in the human knee,” in CRAS 2018 Proceedings of the 8th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, vol. 8, Queen Mary University of London, Sept. 2018
M. Eugster, P. C. Cattin, A. Zam, and G. Rauter, “A parallel robotic mechanism for the stabilization and guidance of an endoscope tip in laser osteotomy,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1306–1311, IEEE, Oct. 2018
L. M. B. Bernal, G. Shayeganrad, G. Kosa, M. Zelechowski, G. Rauter, N. Friederich, P. C. Cattin, and A. Zam, “Performance of Er:YAG laser ablation of hard bone under different irrigation water cooling conditions,” in Optical Interactions with Tissue and Cells XXIX (E. D. Jansen and H. T. Beier, eds.), vol. 10492, pp. 43–49, International Society for Optics and Photonics, 2018
M. Ahmadi, R. H. Hassani, G. Kosa, A. Zam, R. Guzman, P. C. Cattin, and G. Rauter, “Endocat: An ethercat-based articulated rear view endoscope for single port surgery,” in 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), pp. 1070–1075, IEEE, 2018
E. I. Zoller, P. Salz, A. Zam, P. C. Cattin, and G. Rauter, “Intuitive Haptic Telemanipulator for Laser Osteotomy with a Robotic Endoscope,” in Hand, Brain and Technology, 2018.
I. Sušić, A. Zam, P. Cattin, G. Rauter, “Enabling Minimal Invasive Palpation in Flexible Robotic Endoscopes,” in New Trends in Medical and Service Robotics (MESROB), 2018.
L. Iafolla, L.Witthauer, A. Zam, G. Rauter, and P. C. Cattin, "Proof of principle of a novel angular sensor concept for tracking systems," Sensors and Actuators A: Physical, 280, 390–398, 2018.
S. Manavi Roodsari, L. Witthauer, L. Iafolla, G. Rauter, A. Zam, and P. C. Cattin, “Temperature-compensated FBG-based 3D shape sensor using single-mode fibers,” in Advanced Photonics 2018 (BGPP, IPR, NP, NOMA, Sensors, Networks, SPPCom, SOF), 2018.
H. Abbasi, R. Guzman, P. C. Cattin, G. Rauter, and A. Zam, “Differentiation of femur bone from surrounding soft tissue using laser-induced breakdown spectroscopy as a feedback system for smart laserosteotomy,” in Biophotonics: Photonic Solutions for Better Health Care VI, 2018.
H. Abbasi, G. Rauter, R. Guzman, P. C. Cattin, and A. Zam, “Laser-induced breakdown spectroscopy as a potential tool for autocarbonization detection in laserosteotomy,” Journal of Biomedical Optics, vol. 23, no. 7, p. 1, Mar. 2018.
H. Abbasi, R. Guzman, P. C. Cattin, G. Rauter, and A. Zam, “Plasma plume expansion dynamics in nanosecond Nd:YAG laserosteotome,” in High-Speed Biomedical Imaging and Spectroscopy III: Toward Big Data Instrumentation and Management, 2018.
2017 and earlier
N. Gerig, P. Wolf, R. Sigrist, R. Riener, and G. Rauter, “Automated Feedback Selection for Robot-Assisted Training,” International Journal of Computer Science in Sport, vol. 16, no. 3, pp. 149–174, Dec. 2017.
E. I. Zoller, G. Aiello, A. Zam, P. C. Cattin, and G. Rauter, “Is 3-DoF position feedback sufficient for exact positioning of a robotic endoscope end-effector in the human knee?,” in IEEE World Haptics Conference (work in progress paper), 2017.
N. Gerig, R. Riener, and P. Wolf, “Relating kinematic error to movement variability quantitatively by using dynamic time warping,” in 9th SGS/4S Annual Meeting, Conference Abstracts, pp. 27–29, Sportwissenschaftliche Gesellschaft der Schweiz SGS, 2017
M. Eugster, P. Weber, P. Cattin, A. Zam, G. Kosa, and G. Rauter, “Positioning and stabilization of a minimally invasive laser osteotome,” in Hamlyn Symposium on Medical Robotics, vol. 10, pp. 21-22, 2017.
F. Just, R. Riener, G. Rauter, “System for handling an object to be displaced by two influencers”, ETH Zurich, 2017.
L. Beltran, H. Abbasi, G. Rauter, N. Friederich , P. Cattin, and A. Zam, “Effect of laser pulse duration on ablation efficiency of hard bone in microseconds regime,” in Third International Conference on Applications of Optics and Photonics, 2017.
H. Abbasi, L. M. Beltran B., G. Rauter, R. Guzman, P. Cattin, and A. Zam, “Effect of cooling water on ablation in Er:YAG laserosteotome of hard bone,” in Third International Conference on Applications of Optics and Photonics, 2017.
M. Bannwart, D. Emst, C. Easthope, M. Bolliger, and G. Rauter, “Automated stand-up and sit-down detection for robot-assisted body-weight support training with the FLOAT,” in 2017 International Conference on Rehabilitation Robotics (ICORR), 2017.
F. Just, O. Ozen, S. Tortora, R. Riener, and G. Rauter, “Feedforward model based arm weight compensation with the rehabilitation robot ARMin,” in 2017 International Conference on Rehabilitation Robotics (ICORR), 2017.
H. K. Nguendon Kenhagho et al., “Characterization of ablated porcine bone and muscle using laser-induced acoustic wave method for tissue differentiation,” in Medical Laser Applications and Laser-Tissue Interactions VIII, 2017.
G. Kosa, G. Aiello, A. Zam, P. Cattin, G. Rauter, “Automation of a Flexoscope for Laser Osteotomy“, 17th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, vol 1, 171-174,2017.
F. Just, R. Riener, G. Rauter, “Usability of Rehabilitation Robots: The Role of Transparency,” Shanghai Jiao Tong University Academic Forum, 2017.
G. Rauter, “Was ist technisch alles möglich und was ist praxistauglich?,” Heime und Spitäler (August), pp. 28-29, 2017
F.Just, "ARMin 5.0: Fusion of Conventional and Robotic Arm Therapy," International Symposium Clincial Research Priority Program (CRPP), 2017.
M. Bannwart, M. Bolliger, P. Lutz, M. Gantner, and G. Rauter, “Systematic analysis of transparency in the gait rehabilitation device the FLOAT,” in 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2016.
F. Just, K. Baur, R. Riener, V. Klamroth-Marganska, and G. Rauter, “Online adaptive compensation of the ARMin Rehabilitation Robot,” in 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016.
F. Just, K. Baur, V. Klamroth-Marganska, R. Riener, G. Rauter, “Improving Usability and Acceptance of Arm Rehabilitation Robotics: Development of ARMin V,” BANCOM, pp. 52-52, 2016.
F. Just, K. Baur, V. Klamroth-Marganska, R. Riener, G. Rauter, “Motor inertia compensation of the ARMin rehabilitation robot,” AUTOMED, 2016.
G. Rauter, M. Bannwart, P. Lutz, M. Bolliger, M. Gantner, “Robust Wireless Real-Time Data Transmission for Robot Control in Neurorehabilitation,” Biomechanics and Neural Control of Movement: BANCOM, 2016.