A compact navigation system for free hand needle placement in percutaneos procedures. - Diego Dall'Alba; Bogdan Mihai Maris; Paolo Fiorini (IROS, 2012)

Real-time biopsy needle tip estimation in 2D ultrasound images. - Kim Mathiassen; Diego Dall'Alba; Riccardo Muradore; Paolo Fiorini; Ole Jakob Elle (ICRA, 2013)

Robust 3D Pose Estimation of a Laparoscopic Instrument with three Landmarks. - Marco Carletti; Davide Zerbato; Diego Dall'Alba; Andrea Calanca; Paolo Fiorini (STAG, 2015)

BIPCO: ultrasound feature points based on phase congruency detector and binary pattern descriptor. - Diego Dall'Alba; Paolo Fiorini (Int. J. Comput. Assist. Radiol. Surg., 2015)

A Robust Particle Filtering Approach with Spatially-dependent Template Selection for Medical Ultrasound Tracking Applications. - Marco Carletti; Diego Dall'Alba; Marco Cristani; Paolo Fiorini (VISIGRAPP (3: VISAPP), 2016)

Robust Real-Time Needle Tracking in 2-D Ultrasound Images Using Statistical Filtering. - Kim Mathiassen; Diego Dall'Alba; Riccardo Muradore; Paolo Fiorini; Ole Jakob Elle (IEEE Trans. Control. Syst. Technol., 2017)

Analytical derivation of elasticity in breast phantoms for deformation tracking. - Vincent Groenhuis; Francesco Visentin; Francoise J. Siepel; Bogdan Mihai Maris; Diego Dall'Alba; Paolo Fiorini; Stefano Stramigioli (Int. J. Comput. Assist. Radiol. Surg., 2018)

Dynamic Movement Primitives: Volumetric Obstacle Avoidance. - Michele Ginesi; Daniele Meli; Andrea Calanca; Diego Dall'Alba; Nicola Sansonetto; Paolo Fiorini (ICAR, 2019)

Surgical gesture recognition with time delay neural network based on kinematic data. - Giovanni Menegozzo; Diego Dall'Alba; Chiara Zandona; Paolo Fiorini (ISMR, 2019)

Position-based modeling of lesion displacement in ultrasound-guided breast biopsy. - Eleonora Tagliabue; Diego Dall'Alba; Enrico Magnabosco; Chiara Tenga; Igor Peterlík; Paolo Fiorini (Int. J. Comput. Assist. Radiol. Surg., 2019)

Correction to: Position-based modeling of lesion displacement in ultrasound-guided breast biopsy. - Eleonora Tagliabue; Diego Dall'Alba; Enrico Magnabosco; Chiara Tenga; Igor Peterlík; Paolo Fiorini (Int. J. Comput. Assist. Radiol. Surg., 2019)

Design and Integration of Electrical Bio-impedance Sensing in Surgical Robotic Tools for Tissue Identification and Display. - Zhuoqi Cheng; Diego Dall'Alba; Simone Foti; Andrea Mariani; Thibaud Chupin; Darwin G. Caldwell; Giancarlo Ferrigno; Elena De Momi; Leonardo S. Mattos; Paolo Fiorini (Frontiers Robotics AI, 2019)

Iterative simulations to estimate the elastic properties from a series of MRI images followed by MRI-US validation. - Francesco Visentin; Vincent Groenhuis; Bogdan Mihai Maris; Diego Dall'Alba; Françoise J. Siepel; Stefano Stramigioli; Paolo Fiorini (Medical Biol. Eng. Comput., 2019)

Causal interaction modeling on ultra-processed food manufacturing. - Giovanni Menegozzo; Diego Dall'Alba; Paolo Fiorini (CASE, 2020)

Joints-Space Metrics for Automatic Robotic Surgical Gestures Classification. - Marco Bombieri; Diego Dall'Alba; Sanat Ramesh; Giovanni Menegozzo; Caitlin Schneider; Paolo Fiorini (IROS, 2020)

Soft Tissue Simulation Environment to Learn Manipulation Tasks in Autonomous Robotic Surgery*. - Eleonora Tagliabue; Ameya Pore; Diego Dall'Alba; Enrico Magnabosco; Marco Piccinelli; Paolo Fiorini (IROS, 2020)

Biomechanical modelling of probe to tissue interaction during ultrasound scanning. - Eleonora Tagliabue; Diego Dall'Alba; Enrico Magnabosco; Igor Peterlík; Paolo Fiorini (Int. J. Comput. Assist. Radiol. Surg., 2020)

Autonomous Needle Manipulation for Robotic Surgical Suturing Based on Skills Learned from Demonstration. - Kim Lindberg Schwaner; Diego Dall'Alba; Pernille Tine Jensen; Paolo Fiorini; Thiusius R. Savarimuthu (CASE, 2021)

Robot-Assisted Electrical Impedance Scanning system for 2D Electrical Impedance Tomography tissue inspection. - Zhuoqi Cheng; Diego Dall'Alba; Paolo Fiorini; Thiusius Rajeeth Savarimuthu (EMBC, 2021)

Robot Assisted Electrical Impedance Tomography System for Minimally Invasive Surgery. - Zhuoqi Cheng; Diego Dall'Alba; Paolo Fiorini; Thiusius Rajeeth Savarimuthu (ICAR, 2021)

Towards Hierarchical Task Decomposition using Deep Reinforcement Learning for Pick and Place Subtasks. - Luca Marzari; Ameya Pore; Diego Dall'Alba; Gerardo Aragon-Camarasa; Alessandro Farinelli; Paolo Fiorini (ICAR, 2021)

An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation. - Filippo Loschi; Nicola Piccinelli; Diego Dall'Alba; Riccardo Muradore; Paolo Fiorini; Cristian Secchi (ICRA, 2021)

Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery. - Ameya Pore; Davide Corsi; Enrico Marchesini; Diego Dall'Alba; Alicia Casals; Alessandro Farinelli; Paolo Fiorini (IROS, 2021)

Autonomous tissue retraction with a biomechanically informed logic based framework. - Daniele Meli; Eleonora Tagliabue; Diego Dall'Alba; Paolo Fiorini (ISMR, 2021)

Learning from Demonstrations for Autonomous Soft-tissue Retraction *. - Ameya Pore; Eleonora Tagliabue; Marco Piccinelli; Diego Dall'Alba; Alicia Casals; Paolo Fiorini (ISMR, 2021)

Intra-operative Update of Boundary Conditions for Patient-Specific Surgical Simulation. - Eleonora Tagliabue; Marco Piccinelli; Diego Dall'Alba; Juan Verde; Micha Pfeiffer; Riccardo Marin; Stefanie Speidel; Paolo Fiorini; Stéphane Cotin (MICCAI (4), 2021)

Automatic detection of procedural knowledge in robotic-assisted surgical texts. - Marco Bombieri; Marco Rospocher; Diego Dall'Alba; Paolo Fiorini (Int. J. Comput. Assist. Radiol. Surg., 2021)

Multi-task temporal convolutional networks for joint recognition of surgical phases and steps in gastric bypass procedures. - Sanat Ramesh; Diego Dall'Alba; Cristians Gonzalez; Tong Yu 009; Pietro Mascagni; Didier Mutter; Jacques Marescaux; Paolo Fiorini; Nicolas Padoy (Int. J. Comput. Assist. Radiol. Surg., 2021)

Learning from Demonstrations for Autonomous Soft-tissue Retraction. - Ameya Pore; Eleonora Tagliabue; Marco Piccinelli; Diego Dall'Alba; Alicia Casals; Paolo Fiorini (CoRR, 2021)

IVUS-Based Local Vessel Estimation for Robotic Intravascular Navigation. - Beatriz Farola Barata; Phuong Toan Tran; Gianni Borghesan; Keir McCutcheon; Diego Dall'Alba; Paolo Fiorini; Jos Vander Sloten; Emmanuel B. Vander Poorten (IEEE Robotics Autom. Lett., 2021)

Data-Driven Intra-Operative Estimation of Anatomical Attachments for Autonomous Tissue Dissection. - Eleonora Tagliabue; Diego Dall'Alba; Micha Pfeiffer; Marco Piccinelli; Riccardo Marin; Umberto Castellani; Stefanie Speidel; Paolo Fiorini (IEEE Robotics Autom. Lett., 2021)

Industrial Time Series Modeling With Causal Precursors and Separable Temporal Convolutions. - Giovanni Menegozzo; Diego Dall'Alba; Paolo Fiorini (IEEE Robotics Autom. Lett., 2021)

Inductive Learning of Surgical Task Knowledge from Intra-operative Expert Feedback (short paper). - Daniele Meli; Marco Bombieri; Diego Dall'Alba; Paolo Fiorini (AIRO@AI*IA, 2022)

CIPCaD-Bench: Continuous Industrial Process datasets for benchmarking Causal Discovery methods. - Giovanni Menegozzo; Diego Dall'Alba; Paolo Fiorini (CASE, 2022)

Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty. - Eleonora Tagliabue; Daniele Meli; Diego Dall'Alba; Paolo Fiorini (ICRA, 2022)

Colonoscopy Navigation using End-to-End Deep Visuomotor Control: A User Study. - Ameya Pore; Martina Finocchiaro; Diego Dall'Alba; Albert Hernansanz; Gastone Ciuti; Alberto Arezzo; Arianna Menciassi; Alicia Casals; Paolo Fiorini (IROS, 2022)

Distortion and instability compensation with deep learning for rotational scanning endoscopic optical coherence tomography. - Guiqiu Liao; Oscar Caravaca-Mora; Benoit Rosa; Philippe Zanne; Diego Dall'Alba; Paolo Fiorini; Michel de Mathelin; Florent Nageotte; Michalina J. Gora (Medical Image Anal., 2022)

3D Vision Based Robot Assisted Electrical Impedance Scanning for Soft Tissue Conductivity Sensing. - Marco Piccinelli; Zhuoqi Cheng; Diego Dall'Alba; Michael Kjær Schmidt; Thiusius Rajeeth Savarimuthu; Paolo Fiorini (IEEE Robotics Autom. Lett., 2022)

An Electrical Bioimpedance Scanning System for Subsurface Tissue Detection in Robot Assisted Minimally Invasive Surgery. - Zhuoqi Cheng; Kim Lindberg Schwaner; Diego Dall'Alba; Paolo Fiorini; Thiusius Rajeeth Savarimuthu (IEEE Trans. Biomed. Eng., 2022)

Constrained Reinforcement Learning and Formal Verification for Safe Colonoscopy Navigation. - Davide Corsi; Luca Marzari; Ameya Pore; Alessandro Farinelli; Alicia Casals; Paolo Fiorini; Diego Dall'Alba (IROS, 2023)

Automatic Surgical Caption Generation in Nephrectomy Surgery Videos. - Sevdenur Kütük; Marco Bombieri; Diego Dall'Alba; Paolo Fiorini; Duygu Sarikaya (SIU, 2023)

Sim-to-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery. - Paul Maria Scheikl; Eleonora Tagliabue; Balázs Gyenes; Martin Wagner 001; Diego Dall'Alba; Paolo Fiorini; Franziska Mathis-Ullrich (IEEE Robotics Autom. Lett., 2023)

Intraoperative estimation of liver boundary conditions from multiple partial surfaces. - Andrea Mendizabal; Eleonora Tagliabue; Diego Dall'Alba (Int. J. Comput. Assist. Radiol. Surg., 2023)

Autonomous Navigation for Robot-Assisted Intraluminal and Endovascular Procedures: A Systematic Review. - Ameya Pore; Zhen Li 035; Diego Dall'Alba; Albert Hernansanz; Elena De Momi; Arianna Menciassi; Alicia Casals Gelpí; Jenny Dankelman; Paolo Fiorini; Emmanuel B. Vander Poorten (IEEE Trans. Robotics, 2023)

TRandAugment: temporal random augmentation strategy for surgical activity recognition from videos. - Sanat Ramesh; Diego Dall'Alba; Cristians Gonzalez; Tong Yu 009; Pietro Mascagni; Didier Mutter; Jacques Marescaux; Paolo Fiorini; Nicolas Padoy (Int. J. Comput. Assist. Radiol. Surg., 2023)

Autonomous Robotic Surgical Systems: Needing Common Sense to Achieve Higher Levels of Autonomy [Opinion]. - Eleonora Tagliabue; Marco Bombieri; Paolo Fiorini; Diego Dall'Alba (IEEE Robotics Autom. Mag., 2023)

Weakly Supervised Temporal Convolutional Networks for Fine-Grained Surgical Activity Recognition. - Sanat Ramesh; Diego Dall'Alba; Cristians Gonzalez; Tong Yu 009; Pietro Mascagni; Didier Mutter; Jacques Marescaux; Paolo Fiorini; Nicolas Padoy (IEEE Trans. Medical Imaging, 2023)

Mapping natural language procedures descriptions to linear temporal logic templates: an application in the surgical robotic domain. - Marco Bombieri; Daniele Meli; Diego Dall'Alba; Marco Rospocher; Paolo Fiorini (Appl. Intell., 2023)

FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning. - Diego Dall'Alba; Michal Naskret; Sabina Kaminska; Przemyslaw Korzeniowski (IROS, 2024)

DEAR: Disentangled Environment and Agent Representations for Reinforcement Learning without Reconstruction. - Ameya Pore; Riccardo Muradore; Diego Dall'Alba (IROS, 2024)

HiLoTEL: Virtual Reality Robot Interface-Based Human-in-the-Loop Task Execution and Learning in the Physical World Through Its Digital Twin. - Amanuel Ergogo; Diego Dall'Alba; Przemyslaw Korzeniowski (VR Workshops, 2024)

A review on machine learning in flexible surgical and interventional robots: Where we are and where we are going. - Di Wu 053; Renchi Zhang; Ameya Pore; Diego Dall'Alba; Xuan Thao Ha; Zhen Li 035; Yao Zhang 029; Fernando Herrera; Mouloud Ourak; Wojtek Kowalczyk; Elena De Momi; Alícia Casals; et al. (Biomed. Signal Process. Control., 2024)

Imitation Learning for Robotic Assisted Ultrasound Examination of Deep Venous Thrombosis using Kernelized Movement Primitives. - Diego Dall'Alba; Lorenzo Busellato; Thiusius Rajeeth Savarimuthu; Zhuoqi Cheng; Iñigo Iturrate (CoRR, 2024)

PR-ENDO: Physically Based Relightable Gaussian Splatting for Endoscopy. - Joanna Kaleta; Weronika Smolak-Dyzewska; Dawid Malarz; Diego Dall'Alba; Przemyslaw Korzeniowski; Przemyslaw Spurek (CoRR, 2024)

Minimal data requirement for realistic endoscopic image generation with Stable Diffusion. - Joanna Kaleta; Diego Dall'Alba; Szymon Plotka; Przemyslaw Korzeniowski (Int. J. Comput. Assist. Radiol. Surg., 2024)

Challenges in multi-centric generalization: phase and step recognition in Roux-en-Y gastric bypass surgery. - Joël L. Lavanchy; Sanat Ramesh; Diego Dall'Alba; Cristians Gonzalez; Paolo Fiorini; Beat P. Müller-Stich; Philipp C. Nett; Jacques Marescaux; Didier Mutter; Nicolas Padoy (Int. J. Comput. Assist. Radiol. Surg., 2024)

SimuScope: Realistic Endoscopic Synthetic Dataset Generation Through Surgical Simulation and Diffusion Models. - Sabina Martyniak; Joanna Kaleta; Diego Dall'Alba; Michal Naskret; Szymon Plotka; Przemyslaw Korzeniowski (WACV, 2025)

FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning. - Diego Dall'Alba; Michal Nasket; Sabina Kaminska; Przemyslaw Korzeniowski (CoRR, 2025)