Tommaso Ranzani

Dr.  Ranzani , Tommaso


Selected Publications: 

Journal papers
T. Ranzani, G. Gerboni, M. Cianchetti, A. Menciassi. “A bioinspired soft manipulator for minimally invasive surgery” to be published on Bioinspiration&Biomimetics special issue on Octopus inspired robots. 2014

Y. Elsayed, A.Vincenzi, C. Lekakou, T. Geng, C. Saaj, T. Ranzani, M. Cianchetti, A.Menciassi. “Finite element analysis (FEA) and design optimisation of a pneumatically actuating silicone module for robotic surgery applications” to be published on Soft Robotics 2014

M. Li, T. Ranzani, S. Sareh, L. Seneviratne, P. Dasgupta, H. Wurdemann, K. Althoefer. Multi-Fingered Haptic Palpation utilizing Granular Jamming Stiffness Feedback Actuators. Smart Mater. Struct. 23 095007. doi:10.1088/0964-1726/23/9/095007

M. Cianchetti and T. Ranzani, G. Gerboni, T. Nanayakkara, K. Althoefer, P. Dasgupta, A. Menciassi. Soft robotics technologies to address shortcomings in today’s minimally invasive surgery: the STIFF-FLOP approach. Soft Robotics. June 2014, 1(2): 122-131.

A. Jiang, T. Ranzani, G. Gerboni, L. Lekstutyte, K. Althoefer, P. Dasgupta, T. Nanayakkara. Robotic Granular Jamming: Does the Membrane Matter?". Accepted for publication on Soft Robotics (SoRo) 2014.

G. Tortora, T. Ranzani, I. De Falco, P. Dario, A. Menciassi. " A Miniature Robot for Retraction Tasks under Vision Assistance in Minimally Invasive Surgery". Robotics 2014; 3(1): 70-82. (

M. Zimmermann, T. Ranzani, A. Menciassi, B. Kellner. "Development of a Cable Actuated Joint for a Surgical Robotic Flexible Arm." Biomedical Engineering / Biomedizinische Technik. ISSN (Online) 1862-278X, ISSN (Print) 0013-5585, DOI: 10.1515/bmt-2013-4406, September 2013

M. Silvestri, T. Ranzani, A. Argiolas, M. Vatteroni, A. Menciassi "A multi-point of view 3D camera system for minimally invasive surgery", Sens. Actuators A: Phys. (2013),

S. Russo, K. Harada, T. Ranzani, L. Manfredi, C. Stefanini, A. Menciassi, P. Dario. "Design of a Robotic Module for Autonomous Exploration and Multimode Locomotion", Transactions on Mechatronics, IEEE/ASME, IEEE/ASME; vol.PP, no.99, pp.1-10, 0; doi: 10.1109/TMECH.2012.2212449

Conference papers
G. Gerboni, T. Ranzani, G. Ciuti, M. Cianchetti, A. Menciassi. (2014 )A new strategy to build a fully modular soft manipulator for MIS. 4rd Joint Workshop on Computer/Robot Assisted Surgery 14-16 October 2014, Genoa, Italy.

L. Ricotti, T. Ranzani, V. Calarota, A. Menciassi. “Thin and Flexible Contact/Deformation Sensors Based on Piezoelectric Nanocomposites”. Accepted for Poster presentation at IEEE SENSORS 2014, Valencia, Spain November 2-5, 2014

T. Manwell, T. Vítek, T. Ranzani, A. Menciassi, K. Althoefer, H. Liu. “Elastic Mesh Braided Worm Robot for Locomotive Endoscopy” accepted at Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE

X. Wang, T. Geng, Y. Elsayed, T. Ranzani, C. Saaj, C. Lekakou. “A new coefficient-adaptive orthonormal basis function model structure for identifying a class of pneumatic soft actuators” ", accepted at 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Noh Y, Sareh S, Back J, Wurdemann HA, Ranzani T, Secco EL, Faragasso A, Liu H, Althoefer K. "Development of an Three Axial Body Force Sensor for Flexible Manipulator" accepted at: Robotics and Automation (ICRA), 2014 IEEE International Conference on

T. Ranzani, M. Cianchetti, G. Gerboni, I. De Falco, G. Petroni, A. Menciassi "A modular soft manipulator with variable stiffness" 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, Verona, Italy 11-13 September 2013.

M. Cianchetti, T. Ranzani, G. Gerboni, I. De Falco, C. Laschi, A. Menciassi "STIFF-FLOP Surgical Manipulator: mechanical design and experimental characterization of the single module". IROS2013. Finalist for the best IROS2013 application paper.

M. Salerno, T. Mazzocchi, T. Ranzani, F. Mulana, P. Dario, A. Menciassi, "Safety systems in magnetic driven wireless capsule endoscopy",IROS2013

Tortora, G.; Salerno, M.; Ranzani, T.; Tognarelli, S.; Dario, P.; Menciassi, A., "A modular magnetic platform for natural orifice transluminal endoscopic surgery," Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE , vol., no., pp.6265,6268, 3-7 July 2013
doi: 10.1109/EMBC.2013.6610985

M. Cianchetti, T. Ranzani, G. Gerboni, C. Laschi, A. Menciassi “Preliminary mechanical design of a soft manipulator for minimally invasive surgery” accepted for poster presentation at the International Workshop on Soft Robotics and Morphological Computation” Centro Stefano Franscini (CSF), Monte Verità, Ascona, Switzerland July 14-19 2013

Ranzani, T.; Silvestri, M.; Argiolas, A.; Vatteroni, M.; Menciassi, A., "A novel trocar-less, multi-point of view, magnetic actuated laparoscope," Robotics and Automation (ICRA), 2013 IEEE International Conference on , vol., no., pp.1199,1204, 6-10 May 2013
doi: 10.1109/ICRA.2013.6630724

T. Mazzocchi, T.Ranzani, M.Salerno, R.Marchesi, A.Menciassi. “Textile sensors as safety mechanism in magnetic driven medical devices” 7th international Avantex Symposium, Frankfurt 2013

A. Argiolas, M. Silvestri, T. Ranzani, M. Vatteroni, A. Menciassi, “A video acquisition system for autostereoscopic multi-views displays for minimally invasive surgery” Procedia Engineering, Volume 47, 2012, Pages 1211-1214, ISSN 1877-7058, 10.1016/j.proeng.2012.09.370. (

A. Argiolas, M. Silvestri, T. Ranzani, M. Vatteroni, P. Dario, A. Menciassi, “A video acquisition system for autostereoscopic multi-views displays for minimally invasive surgery” paper accepted for CARS 2012 Computer Assisted Radiology and Surgery June 27 - 30, 2012, Congress Palace, Pisa, Italy

G. Salvietti, D. Prattichizzo, M. Niccolini, T. Ranzani, A. Menciassi ''A task priority approach for modular robots in minimally invasive surgery'' ICRA 2012 workshop: Modular Surgical Robotics: how can we make it possible?

C. Di Natali, T.Ranzani, M. Simi, A. Menciassi, P. Valdastri, “Trans-abdominal Active Magnetic Linkage for Robotic Surgery: Concept Definition and Model Assessment” Robotics and Automation (ICRA), 2012 IEEE International Conference on, vol., no., pp.695-700, 14-18 May 2012 doi: 10.1109/ICRA.2012.6225081

K. Harada, S. Russo, T. Ranzani, A. Menciassi, P. Dario "Design of Scout Robot as a robotic module for symbiotic multi-robot organisms," Micro-NanoMechatronics and Human Science (MHS), 2011 International Symposium on, pp.511-513, 6-9 Nov. 2011. doi: 10.1109/MHS.2011.6102244

S. Kernbach, F. Schlachter, R. Humza, J. Liedke, S. Popesku, S. Russo, T. Ranzani, L. Manfredi, C. Stefanini, R. Matthias, Ch. Schwarzer, B. Girault, P. Alschbach, E. Meister, O. Scholz “ Heterogeneity for Increasing Performance and Reliability of Self-Reconfigurable Multi-Robot Organisms” IROS11 workshop on Reconfigurable Modular Robotics: Challenges of Mechatronic and Bio-Chemo Hybrid Systems.

T. Ranzani, C. Di Natali, M. Simi, A. Menciassi, P. Dario, P. Valdastri "A novel surgical robotic platform minimizing access trauma" in Proc. of 4th Hamlyn Symposium on Medical Robotics, London, UK, June 2011, pp. 15-16. (Best Oral Presentation Award)

A. Ruffini, T. Ranzani, C. Cristallini, N. Barbani , F. Ciardelli and P. Giusti “Nanoparticles from Templated Complexes: Novel Materials for Biomedical Applications” the 8th World Biomaterial Congress, Amsterdam, May 28 - June 01, 2008

T.Ranzani, C.Cristallini, A.Ruffini, N.Barbani, E. Rosellini, D.Silvestri, P.Giusti, "Novel drug targeting polymeric nano system based on PNIPAAm-PAA complex", Congresso nazionale di bioingegneria 2008 atti, (“Proceedings of the First National Congress of Bioengineering“) pp. 675-676

C. Cristallini, A. Ruffini, T. Ranzani, N. Barbani, E. Rosellini, D. Silvestri, M. Gagliardi, P. Giusti, G.D. Guerra “Nanocomplessi polimerici intelligenti ottenuti per polimerizzazione su matrice per il drug targeting”; “Congresso Nazionale Biomateriali 2008” (“National congress of Biomaterials 2008”) 17-19 September, Follonica (GR), Italy

C. Cristallini, A. Ruffini, T. Ranzani, N. Barbani , E. Rosellini, D. Silvestri ,M. Gagliardi, G. Dante Guerra, P.Giusti. Smart polymer nanocomplexes obtained by template polymerization for drug targeting JABB ISSN: 1722-6899 vol.7 pag. 60 Issue 1 January-April 2009.

T. Ranzani, M. Silvestri, A. Argiolas, M. Vatteroni, A. Menciassi, P. Dario; “Sistema acquisizione video”. Italian patent FI2012A000133

P. Valdastri, C. Di Natali, M. Simi, T. Ranzani, A. Menciassi, P. Dario. “Piattaforma robotica per chirurgia mininvasiva” Italian patent FI2011A000114, extended PCT/IB2012/052739

A. Arezzo, T. Ranzani, A. Menciassi, M. Bonino, M.Morino, P. Dario; “Endoscopio RED”. Italian patent FI2013A000055, extended PCT/IB2014/059939