Peri-Ocularly Navigated Exteroceptive Snake Robot for Novel Retinal Interventions

Projektinformationen

PIONEER

ID Finanzhilfevereinbarung: 714562

DOI 10.3030/714562

Abgeschlossenes Projekt

EK-Unterschriftsdatum 15 März 2017

Startdatum 1 April 2017

Enddatum 31 März 2023

Finanziert unter

• EXCELLENT SCIENCE - European Research Council (ERC)

Gesamtkosten € 1 500 000,00

EU-Beitrag € 1 500 000,00

Koordiniert durch

KING'S COLLEGE LONDON
United Kingdom

Ziel

Intraocular treatments require manipulation of structures with dimensions comparable to hand tremor. The demanded dexterity, coupled with reduced haptic and depth perception, calls for robotic assistance.

Despite notable benefits, existing robots are not clinically disruptive but follow well-trodden intervention protocols with significant limitations, e.g. lack of flexibility at the scleral incision and limited manipulation bandwidth, as to avoid scleral, lens, and retinal damage. Robotics also does not obviate the prerequisite of the risky, cataract-inducing vitrectomy, which may cause retinal detachment (RD) or sight loss.

Novel interventions like stem-cell delivery pose yet further challenges. Apart from removing healthy vitreous, they require millimetre-long retinal tears, lifting the retinal membrane, and injecting a stem-cell suspension or sheet. Current robots facilitate manipulations but conceivably neither enable alternative approaches nor reduce retinal-tear-induced risks.

PIONEER, the proposed snake robot, can disrupt clinical protocol by navigating peri-ocularly and around the orbital muscles to suprachoroidally reach the retina. Revolutionizing existing robot paradigms, PIONEER innovates both scientifically and technically.

Optimal robot compliance will ensure force-adaptive peri-ocular steering conforming to the eye’s exterior. A tactile sleeve with micro-sensors will provide exteroceptive force sensing and shape estimation. Enhanced navigation, fusing optical coherence tomography with on-line vessel detection from novel tip-mounted probes, will ensure safe guidance to avoid vessels through imposed virtual fixtures and path planning. No vitrectomy will be required and the posterior scleral incision will leave the retinal membrane intact, minimising RD risk.

PIONEER can be an enabler of emerging stem-cell interventions and futuristic procedures like drug-implant insertion and nerve interfacing, currently at human-dexterity limits or impossible.

Wissenschaftliches Gebiet

• medical and health sciences › basic medicine › anatomy and morphology
• engineering and technology › electrical engineering, electronic engineering, information engineering › electronic engineering › sensors › optical sensors
• medical and health sciences › clinical medicine › ophthalmology
• engineering and technology › electrical engineering, electronic engineering, information engineering › electronic engineering › robotics

Schlüsselbegriffe

• PIONEER

Programm/Programme

• H2020-EU.1.1. - EXCELLENT SCIENCE - European Research Council (ERC) Main Programme

Thema/Themen

• ERC-2016-STG - ERC Starting Grant

Aufforderung zur Vorschlagseinreichung

ERC-2016-STG

Finanzierungsplan

ERC-STG - Starting Grant

Gastgebende Einrichtung

KING'S COLLEGE LONDON

• Netto-EU-Beitrag: € 970 909,60
• Adresse: STRAND ; WC2R 2LS London ; Vereinigtes Königreich
• Region: London › Inner London — West › Westminster
• Aktivitätstyp: Higher or Secondary Education Establishments
• Gesamtkosten: € 970 909,60

Begünstigte (2)

KING'S COLLEGE LONDON

Vereinigtes Königreich

• Netto-EU-Beitrag: € 970 909,60
• Adresse: STRAND ; WC2R 2LS London
• Region: London › Inner London — West › Westminster
• Aktivitätstyp: Higher or Secondary Education Establishments
• Gesamtkosten: € 970 909,60

UNIVERSITY COLLEGE LONDON

Vereinigtes Königreich

• Netto-EU-Beitrag: € 529 090,40
• Adresse: GOWER STREET ; WC1E 6BT London
• Region: London › Inner London — West › Camden and City of London
• Aktivitätstyp: Higher or Secondary Education Establishments
• Gesamtkosten: € 529 090,40