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ACTIVE

Project reference: 270460
Funded under: FP7-ICT

Active Constraints Technologies for Ill-defined or Volatile Environments

From 2011-04-01 to 2015-03-31

Project details

Total cost:

EUR 7 620 767

EU contribution:

EUR 5 778 000

Coordinated in:

Italy

Call for proposal:

FP7-ICT-2009-6

Funding scheme:

CP - Collaborative project (generic)

Active Constraints Technologies in Neurosurgery for Ill-defined or Volatile Environments

The ACTIVE project exploits ICT and other engineering methods and technologies for the design and development of an integrated redundant robotic platform for neurosurgery. A light and agile redundant robotic cell with 20 degrees-of-freedom (DoFs) and an advanced processing unit for pre- and intra-operative control will operate both autonomously and cooperatively with surgical staff on the brain, a loosely structured environment.

Objective

The ACTIVE project exploits ICT and other engineering methods and technologies for the design and development of an integrated redundant robotic platform for neurosurgery. A light and agile redundant robotic cell with 20 degrees-of-freedom (DoFs) and an advanced processing unit for pre- and intra-operative control will operate both autonomously and cooperatively with surgical staff on the brain, a loosely structured environment. As the patient will not be considered rigidly fixed to the operating table and/or to the robot, the system will push the boundaries of the state of the art in the fields of robotics and control for the accuracy and bandwidth required by the challenging and complex surgical scenario.\n\nTwo cooperating robots will interact with the brain that will deform for the tool contact, blood pressure, breathing and deliquoration. Human factors are considered by allowing easy interaction with the users through a novel haptic interface for tele-manipulation and by a collaborative control mode ("hands-on"). Force and video feedback signals will be provided to surgeons. Active constraints will limit and direct tool tip position, force and speed preventing damage to eloquent areas, defined on realistic tissue models updated on-the-field through sensors information. The active constraints will be updated (displaced) in real time in response to the feedback from tool-tissue interactions and any additional constraints arising from a complex shared workspace. The overarching control architecture of ACTIVE will negotiate the requirements and references of the two slave robots.\n\nThe operative room represents the epitome of a dynamic and unstructured volatile environment, crowded with people and instruments. The workspace will thus be monitored by environmental cameras, and machine learning techniques will be used for the safe workspace sharing. Decisions about collision avoidance and downgrading to a safe state will be taken autonomously, the movement of the head of the patient will be filtered by a bespoke active head frame, while fast and unpredictable patient motion will be compensated by a real-time cooperative control system. Cognitive skills will help to identify the target location in the brain and constrain robotic motions by means of on-field observations.

Related information

Open Access

Coordinator contact

Giancarlo Ferrigno, (Director NearLab)
Tel.: +39 0223993371
Fax: +39 0223999003
E-mail

Coordinator

POLITECNICO DI MILANO
Italy
Via G. Ponzio 34/5
20133 MILANO
Italy
Administrative contact: Fabio Conti
Tel.: +39 02 2399 3431
Fax: +39 02 2399 3417
E-mail

Participants

Force Dimension s.a.r.l.
Switzerland
ROUTE SAINT CERGUE 295
1260 NYON
Switzerland
Administrative contact: Patrick Helmer
Tel.: +41 79 400 32 64
Fax: +41 22 362 65 71
E-mail
TECHNISCHE UNIVERSITAET MUENCHEN
Germany
Arcisstrasse 21
80333 MUENCHEN
Germany
Administrative contact: Ulrike Ronchetti
Tel.: +49 89 28922616
Fax: +49 89 28922620
E-mail
KUKA Laboratories GmbH
Germany
Zugspitzstrasse 140
86165 Augsburg
Germany
Administrative contact: Verena Hörmann
Tel.: +49 812 797 4635
Fax: +49 812 797 414635
E-mail
Karlsruher Institut fuer Technologie
Germany
Kaiserstrasse 12
76131 Karlsruhe
Germany
Administrative contact: Heinz Woern
Tel.: +497216084006
Fax: +497216087141
E-mail
DEUTSCHES FORSCHUNGSZENTRUM FUER KUENSTLICHE INTELLIGENZ GMBH
Germany
Trippstadter Strasse 122
67663 KAISERSLAUTERN
Germany
Administrative contact: Walter Olthoff
Tel.: +49 631 2057 5500
Fax: +49 631 2057 5502
E-mail
Renishaw (Ireland) Ltd
Ireland
Swords Business Park
GL128JR Dublin
Ireland
Administrative contact: Mathew Stratton
Tel.: +35318131111
Fax: +35318131122
E-mail
THE FOUNDATION FOR MEDICAL RESEARCH INFRASTRUCTURAL DEVELOPMENT AND HEALTH SERVICES NEXT TO THE MEDICAL CENTER TEL AVIV
Israel
WEIZMANN STREET 6
64239 Tel Aviv
Israel
Administrative contact: Michal Roll
Tel.: +972 3697 4760
Fax: +972 3697 5739
E-mail
TECHNION ISRAEL INSTITUTE OF TECHNOLOGY
Israel
SENATE BUILDING TECHNION CITY
32000 HAIFA
Israel
Administrative contact: Lavan Jack
Tel.: +972 4 8293097
Fax: +972 4 8232958
E-mail
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy
VIA MOREGO 30
16163 GENOVA
Italy
Administrative contact: SIMONA VENTRIGLIA
Tel.: +3901071781285
Fax: +39010710321
E-mail
CF CONSULTING FINANZIAMENTI UNIONE EUROPEA SRL
Italy
Via Giuseppe Mussi 1
20154 MILANO
Italy
Administrative contact: Carla Finocchiaro
Tel.: +39023108331
Fax: +390233614064
E-mail
FONDAZIONE IRCCS ISTITUTO NEUROLOGICO CARLO BESTA
Italy
VIA CELORIA 11
20133 MILANO
Italy
Administrative contact: Francesca Grechi
Tel.: +39 02 23942320
Fax: +39 02 2363973
E-mail
CONSIGLIO NAZIONALE DELLE RICERCHE
Italy
PIAZZALE ALDO MORO 7
00185 ROMA
Italy
Administrative contact: Davide Ceresa
Tel.: +39 02 23699997
Fax: +39 02 23699941
E-mail
IMPERIAL COLLEGE OF SCIENCE, TECHNOLOGY AND MEDICINE
United Kingdom
Exhibition Road, South Kensington Campus
SW7 2AZ LONDON
United Kingdom
Administrative contact: Shaun Power
Tel.: +44 207 5948773
Fax: +44 207 5948609
E-mail
MEDIMATON LIMITED
United Kingdom
CANDLEMAS LANE 49
HP9 1AE BEACONSFIELD
United Kingdom
Administrative contact: Patrick Finlay
Tel.: +441494 675002
Fax: +441494 675002
E-mail
FONDAZIONE IRCCS CA' GRANDA - OSPEDALE MAGGIORE POLICLINICO
Italy
VIA FRANCESCO SFORZA 28
20122 MILANO
Italy
Administrative contact: lorenzo Bello
Tel.: +39338 58 17 261
Fax: +390258312473
E-mail
AZIENDA OSPEDALIERA SAN PAOLO
Italy
VIA ANTONIO DI RUDINI 8
20142 MILAN
Italy
Administrative contact: Giuseppe Catarisano
Tel.: +390281843918
Fax: +39028130911
E-mail
AZIENDA OSPEDALIERA OSPEDALE NIGUARDA CA' GRANDA
Italy
PIAZZA OSPEDALE MAGGIORE 3
20162 MILANO
Italy
Administrative contact: Giorgio lo Russo
Tel.: +390264442867
Fax: +390264442868
E-mail
Record Number: 97338 / Last updated on: 2014-10-06