Relevant pubblications for the project

References of journal publications (from 1st December 2015 to 31st May 2019) 

  1. G. Ciuti, R. Caliò, D. Camboni, L. Neri, F. Bianchi, A. Arezzo, A. Koulaouzidis, S. Schostek, D. Stoyanov, C. M. Oddo, B. Magnani, A. Menciassi, M. Morino, M. O. Schurr, P. Dario "Frontiers of robotic endoscopic capsules: a review." Journal of Micro-Bio Robotics (2016): 1-18. 
  2. Diana E Yung, Tommaso Banfi, Gastone Ciuti, Alberto Arezzo, Paolo Dario and Anastasios Koulaouzidis - Musculoskeletal injuries in gastrointestinal endoscopists: a systematic review. Accepted to publication to EXPERT REVIEW OF GASTROENTEROLOGY & HEPATOLOGY. 
  3. Bianchi F, Ciuti G, Koulaouzidis A, Arezzo A, Stoyanov D, Schostek S, et al. An innovative robotic platform for magnetically-driven painless colonoscopy. Ann Transl Med [Internet]. 2017 Nov 16;5(21):421. Available from: 
  4. Koulaouzidis A, Iakovidis D, Yung D, Mazomenos E, Bianchi F, Karagyris A, et al. Novel experimental and software methods for image reconstruction and localization in capsule endoscopy. Endosc Int Open [Internet]. 2018;06(02): E205–10. Available from: 
  5. Li J, Barjuei ES, Ciuti G, Hao Y, Zhang P, Menciassi A, et al. Magnetically-driven medical robots: An analytical magnetic model for endoscopic capsules design. J Magn Magn Mater. 2018; 452:278–87.  
  6. Zhang P, Li J, Hao Y, Bianchi F, Ciuti G, Arai T, et al. The role of computed tomography data in the design of a robotic magnetically-guided endoscopic platform. Adv Robot [Internet]. 2018; 1864:1–14. Available from: 
  7. Visentini-Scarzanella M, Kawasaki H, Furukawa R, Bonino MA, Arolfo S, Lo Secco G, et al. A structured light laser probe for gastrointestinal polyp size measurement: a preliminary comparative study. Endosc Int Open. 2018;06(05): E602–9.  
  8. Brandao P, Zisimopoulos O, Mazomenos E, Ciuti G, Bernal J, Visentini-Scarzanella M, et al. Towards a Computed-Aided Diagnosis System in Colonoscopy: Automatic Polyp Segmentation Using Convolution Neural Networks. J Med Robot Res [Internet]. 2018 Feb 22;03(02):1840002. Available from: 
  9. Iakovidis DK, Dimas G, Karargyris A, Bianchi F, Ciuti G, Koulaouzidis A. Deep Endoscopic Visual Measurements. IEEE J Biomed Heal Informatics. 2018; 
  10. Cummins G, Cox BF, Ciuti G, Anbarasan T, Desmulliez MPY, Cochran S, et al. Gastrointestinal diagnosis using non-white light imaging capsule endoscopy. Nat Rev Gastroenterol Hepatol [Internet]. 2019; Available from: 
  11. Bianchi F, Masaracchia A, Shojaei Barjuei E, Menciassi A, Arezzo A, Koulaouzidis A, et al. Localization strategies for robotic endoscopic capsules: a review. Expert Rev Med Devices [Internet]. 2019 May 4;16(5):381–403. Available from: 
  12. P Brandao, E Mazomenos, D Stoyanov, “Widening siamese architectures for stereo matching”, Pattern Recognition Letters, 120: 75-81, Apr 2019,
  13. A. Rau, P.J.E. Edwards, O.F. Ahmad, P. Riordan, M. Janatka, L.B. Lovat, D. Stoyanov, “Implicit domain adaptation with conditional generative adversarial networks for depth prediction in endoscopy”, International Journal of Computer Assisted Radiology and Surgery, 14(7):1167-1176, Jul 2019,

References of conference proceedings publications (from 1st December 2015 to 31st May 2019) 

  1. Brandao, P.; Mazomenos, E.; Ciuti, G.; Bianchi, F.; Menciassi, A.; Dario, P.; Koulaouzidis, A.; Stoyanov, D., Validating convolution neural networks for automatic polyp detection in robotic colonoscopy. In CRAS, Pisa, 2016. 
  2. Barjuei, E.S.; Li, J.; Ciuti, G.; Hao, Y.; Zhang, P.; Shi, Q.; Menciassi, A.; Q., H.; Dario, P., Implementation of an analytical magnetic model for medical robots design. In CRAS, Pisa, 2016. 
  3. G. Ciuti, D. Stoyanov, A. Arezzo, A. Koulaouzidis, S. Schostek, M. O. Schurr, B. Magnani, C. M. Oddo, A. Menciassi, and P. Dario - EndoVESPA: a computer-integrated robotic platform for magnetically-driven soft-tethered colonoscopy. In CRAS, Pisa, 2016. 
  4. Patrick Brandao; Evangelos Mazomenos; Gastone Ciuti; Renato Caliò; Federico Bianchi; Arianna Menciassi; Paolo Dario; Anastasios Koulaouzidis; Alberto Arezzo; Danail Stoyanov; “Fully convolutional neural networks for polyp segmentation in colonoscopy” Proc. SPIE 10134, Medical Imaging 2017: Computer-Aided Diagnosis, 101340F, 11-16 Feb 2017, Orlando, FLA, USA. 
  5. D. Camboni, R. Caliò, J. O. Ortega, C. M. Oddo, M. C. Carrozza, A. Menciassi, G. Ciuti and P. Dario - Tactile robotic endoscopic capsule for closed-loop force control and safety. Submitted to CRAS 2017 conference. 
  6. F. Bianchi, E. Trallori, D. Camboni, C. M. Oddo, A. Menciassi, G. Ciuti and P. Dario - Tactile tool for tissue palpation in colonoscopy. Submitted to CRAS 2017 conference. 
  7. F. Bianchi, E. Trallori, D. Camboni, C. M. Oddo, A. Menciassi, G. Ciuti and P. Dario - Endoscopic tactile instrument for remote tissue palpation in colonoscopic procedures. Submitted to IEEE CBS 2017 conference. 
  8. R. Caliò, D. Camboni, J. O. Ortega, C. M. Oddo, M. C. Carrozza, A. Menciassi, G. Ciuti and P. Dario - Robotic endoscopic capsule for closed-loop force-based control and safety strategies. Submitted to IEEE CBS 2017 conference. 
  9. Hao Y, Zhang P, Bianchi F, Wu L, Li J, Ciuti G, et al. Analytical Magnetic Model towards Compact Design of Magnetically-driven Capsule Robot. In: 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS). 2018. p. 245–9. 
  10. Gabrieli N, Alcaide JO, Cianchetti M, Menciassi A, Ciuti G. A novel soft device for assisting magnetically-driven soft-tethered capsule navigation. In: 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS). 2018. p. 261–5. 
  11. E.B. Mazomenos, F. Vasconcelos, J. Smelt, M. Jahangiri, B. Martin, A. Smith, S. Wright and D. Stoyanov. “Objectively Assessing Performance in Transoesophageal Echocardiography from Image Comparison and Alignment”. In CRAS 2017, Montpellier, France. 
  12. P. Brandao, E. Mazomenos, A. Rau, M. Janatka, D. Stoyanov, “Widening Siamese Neural Networks for Stereo Matching in Colonoscopy”. In CRAS 2017, Montpellier, France.  
  13. A. Rau, F. Chadebecq, P. Riordan, D. Stoyanov, “Monocular 3D Reconstruction of the Colon Using CNNs Trained on Synthetic Data”. In CRAS 2018, London, UK.  
  14. EB Mazomenos, D Watson, R Kotorov, D Stoyanov, “Gesture Classification in Robotic Surgery using Recurrent Neural Networks with Kinematic Information”, In CRAS 2018, London, UK.


  1. L. J. Sliker and G. Ciuti: Flexible and capsule endoscopy for screening, diagnosis and treatment. Expert review of medical devices, Vol. 11, no. 6, pp. 649-666, 2014.
  2. P. Valdastri, G. Ciuti, A. Verbeni. A. Menciassi, P. Dario, A. Arezzo, M. Morino: Magnetic air capsule robotic system: proof of concept of a novel approach for painless colonoscopy. Surgical Endoscopy, vol. 26, no. 5, pp. 1238-1246, 2012.
  3. M. Salerno, G. Ciuti, G. Lucarini, R. Rizzo, P. Valdastri, A. Menciassi, A. Landi, P. Dario: A discrete-time localization method for capsule endoscopy based on on-board magnetic sensing. Measurement Science and Technology, vol. 23, pp. 1-10, 2012.
  4. G. Ciuti, P. Valdastri, A. Menciassi and P. Dario: Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures. Robotica, vol. 28, pp. 199-207, 2010.
  5. C. Lucarotti, C. M. Oddo, N. Vitiello, and M.C. Carrozza: Synthetic and bio-artificial tactile sensing: a review. Sensors, vol. 13, pp. 1435-1466, 2013.