Servizio Comunitario di Informazione in materia di Ricerca e Sviluppo - CORDIS

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CASCADE

Project reference: 601021
Funded under

Cognitive AutonomouS CAtheter operating in Dynamic Environments

From 2013-02-01 to 2016-01-31, closed project

Project details

Total cost:

EUR 4 307 347

EU contribution:

EUR 3 125 000

Coordinated in:

Belgium

Call for proposal:

FP7-ICT-2011-9See other projects for this call

Funding scheme:

CP - Collaborative project (generic)
Recent efforts in robotics and automation research have fostered the development of a wide variety of bio-inspired snake-like continuum robots. Robotic catheters are a particularly challenging specialization of continuum robots because the vascular tree surrounding the catheter is complex, delicate, deformable and highly dynamic. CASCADE will develop a unified control framework for continuum robots that can operate in the cardiovascular system. An interface to the supervising surgeon will enable cognitive links between the operator and the continuum robot, facilitating complementary assistance during autonomous execution of surgical tasks. CASCADE will advance the treatment of cardiovascular diseases by providing a new dexterous and intelligent instrument that is initially focused on endovascular aortic valve replacement.

Objective

Recent efforts in robotics and automation research have fostered the development of a wide variety of bio-inspired snake-like continuum robots. These robots require radically different controllers and control schemes compared to conventional rigid robots, but continuum control has not received significant attention in the scientific community. Robotic catheters are a particularly challenging specialization of continuum robots because the vascular tree surrounding the catheter is complex, delicate, deformable and highly dynamic. This challenge is further complicated by the limited visibility during the procedure. CASCADE will develop a unified control framework for continuum robots that can operate in complex and deformable environments and specifically in the cardiovascular system. The project will construct general mathematical descriptions of the continuum robot and its surroundings while model parameters will be identified during clinical operation. In cases where fusing pre-operative data with intra-operative sensors does not provide sufficient information to allow reliable decision-making, active sensing techniques will be adopted. An interface to the supervising surgeon will enable cognitive links between the operator and the continuum robot, facilitating complementary assistance during autonomous execution of surgical tasks. The interface will also be used for learning and robotic training and further for validation of techniques using identified clinical benchmarks. The resulting development will allow the control of local (interaction force / stiffness) and global (shape) robot states at an unprecedented level of detail. The developed skill analysis tools will be used to verify the achievable control performance of continuum robots in catheter procedures. In particular, CASCADE will advance the treatment of cardiovascular diseases by providing a new dexterous and intelligent instrument that is initially focused on endovascular aortic valve replacement.

Related information

Open Access

Coordinator

KATHOLIEKE UNIVERSITEIT LEUVEN
Belgium

EU contribution: EUR 678 624


Waaistraat 6
3000 Leuven
Belgium
Administrative contact: Monique Vanhaeren
Tel.: +32 16 32 95 61
Fax: +32 16 32 65 15
E-mail

Participants

MATERIALISE NV
Belgium

EU contribution: EUR 305 583


TECHNOLOGIELAAN
3001 HEVERLEE
Belgium
Administrative contact: Roel Wirix-Speetjens
Tel.: +32 16 39 62 81
E-mail
MEDYRIA AG
Switzerland

EU contribution: EUR 222 301


KREUZSTRASSE
8008 ZURICH
Switzerland
Administrative contact: Mauro Sette
Tel.: +41 774758407
E-mail
ENDOSENSE SA
Switzerland

EU contribution: EUR 131 177


CHEMIN DU GRAND PUITS
1217 MEYRIN
Switzerland
Administrative contact: Giovani Leo
Tel.: +41223061960
E-mail
ZURCHER HOCHSCHULE FUR ANGEWANDTE WISSENSCHAFTEN
Switzerland

EU contribution: EUR 341 668


TECHNIKUMSTRASSE
8401 WINTERTHUR
Switzerland
Administrative contact: Richard Hueppi
Tel.: +41 58 934 78 33
Fax: +41 58 935 78 33
E-mail
UNIVERSITAET BREMEN
Germany

EU contribution: EUR 503 110


Bibliothekstrasse
28359 BREMEN
Germany
Administrative contact: Nadja Epp
Tel.: +49 421 218 60568
Fax: +49 421 218 4193
E-mail
UNIVERSITY COLLEGE LONDON
United Kingdom

EU contribution: EUR 373 516


Gower Street
WC1E 6BT LONDON
United Kingdom
Administrative contact: Greta Borg-Carbott
Tel.: +44 2031083033
E-mail
IMPERIAL COLLEGE OF SCIENCE TECHNOLOGY AND MEDICINE
United Kingdom

EU contribution: EUR 569 021


Exhibition Road, South Kensington Campus
SW7 2AZ LONDON
United Kingdom
Administrative contact: Shaun Power
Tel.: +44 207 594 8773
Fax: +44 207 594 1265
E-mail
Record Number: 106651 / Last updated on: 2016-04-01