Objective
In teleoperated robot-assisted surgery, a surgeon operates master manipulators to control the motion of remote robotic manipulators. The manipulators at the remote side enter the patient's body through very small incisions. The patient benefits from the advantages of minimally invasive surgery, while the surgeon's performance is improved by high dexterity and precision inside the patient's body. However, the effectiveness of current clinical systems is limited by the lack of force feedback to the operator. Some surgical procedures, such as exploratory palpation, cannot be performed via MIS. For others, the addition of force information will improve the safety and quality of operation.
Robotic teleoperation systems in critical environments must be stable and transparent. In the classical approaches to analysis and control of teleoperators, there is an inherent trade-off between these two design goals. However, these approaches do not take into account models of the human operator. In previous studies, we explored transparency and the human operator. Here, we intend to explore the human operator influence on stability, and develop new control methods for teleoperated surgery that consider biomechanical and neurological models of the operator.
In particular, we will push the boundary of the stability-transparency tradeoff, and maintain stable system performance with useful force feedback. To achieve this, we will collaborate with surgeons to identify performance measures and perception goals. We will develop human-in-the-loop stability analysis and use recent results in human motor control to develop the control methods. These will be applied on a custom research version of a clinical robotic surgery system in realistic surgical tasks.
This study is expected to enable effective and practical force feedback for teleoperated robotic surgery, and open new capabilities for surgery and other telerobotic applications.
Fields of science (EuroSciVoc)
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
- medical and health sciences clinical medicine surgery surgical procedures
- medical and health sciences clinical medicine surgery robotic surgery
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Programme(s)
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Topic(s)
Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Call for proposal
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
FP7-PEOPLE-2011-IOF
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Funding Scheme
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Coordinator
84105 Beer Sheva
Israel
The total costs incurred by this organisation to participate in the project, including direct and indirect costs. This amount is a subset of the overall project budget.