Multi-sensing tool for Minimally Invasive Surgery

Project Information

PALPABLE

Grant agreement ID: 101092518

DOI

10.3030/101092518

EC signature date 30 November 2022

Start date 1 January 2023

End date 31 December 2026

Funded under

• Digital, Industry and Space

Total cost

€ 2 909 336,25

EU contribution

€ 2 909 336,00

Coordinated by

TECH HIVE LABS ASTIKI MI KERDOSKOPIKI ETAIREIA
Greece

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Demonstrators, pilots, prototypes (1)

>10 sets of 3 bend sensitive optical fibres

Websites, patent fillings, videos etc. (1)

Project website and promotional material

Documents, reports (2)

Report on functional requirements
Palpation Membrane Designs

Publications

Peer reviewed articles (12)

Efficient Manufacturing of Steerable Eversion Robots with Integrated Pneumatic Artificial Muscles

Author(s): Thomas Mack, Cem Suulker, Abu Bakar Dawood, Kaspar Althoefer
Published in: Journal of Manufacturing and Materials Processing, Issue 9, 2025, ISSN 2504-4494
Publisher: MDPI AG
DOI: 10.3390/JMMP9070223

Abraded optical fibre-based dynamic range force sensor for tissue palpation

Author(s): Abu Bakar Dawood, Vamsi Krishna Chavali, Thomas Mack, Zhenyu Zhang, Hareesh Godaba, Martin Angelmahr, Kaspar Althoefer
Published in: Frontiers in Robotics and AI, Issue 11, 2024, ISSN 2296-9144
Publisher: Frontiers Media SA
DOI: 10.3389/FROBT.2024.1489884

Oncologic and survival outcomes of pT2N0 rectal adenocarcinoma treated by transanal local excision: a retrospective cohort study

Author(s): Alberto Arezzo, Carlo Alberto Ammirati, Giovanni Distefano, Michele Barbiero, Roberto Passera, Mario Morino
Published in: Surgical Endoscopy, Issue 40, 2026, ISSN 0930-2794
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/S00464-025-12239-6

Omnidirectional soft pneumatic actuators: a design and optimization framework

Author(s): Maria Moutousi, Panagiotis Polygerinos
Published in: Frontiers in Robotics and AI, Issue 11, 2024, ISSN 2296-9144
Publisher: Frontiers Media SA
DOI: 10.3389/frobt.2024.1418484

SoftER: A Spiral Soft Robotic Ejector for Sorting Applications

Author(s): Ilias Zournatzis; Sotiris Kalaitzakis; Panagiotis Polygerinos
Published in: IEEE Robotics and Automation Letters, Issue Volume 8 Issue 11, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2023.3315206

Single-to-four core optical fiber coupling using a two-photon polymerization produced waveguide

Author(s): Georgios Violakis, Eleni Athanasaki, Stylianos Kostakis, Nikolaos Tiriakidis, Kosmas Tiriakidis, Thomais Tiriakidou, Panagiotis Polygerinos
Published in: Optics Express, Issue 32, 2024, ISSN 1094-4087
Publisher: Optica Publishing Group
DOI: 10.1364/OE.510621

Optics Express

Author(s): Georgios Violakis, Eleni Athanasaki, Stylianos Kostakis, Nikolaos Tiriakidis, Kosmas Tiriakidis, Thomais Tiriakidou, and Panagiotis Polygerinos
Published in: Optics Express, Issue 2, ISSN 1094-4087
Publisher: Optica Publishing Group
DOI: 10.1364/OE.510621

Flexible Sensor Foil Based on Polymer Optical Waveguide for Haptic Assessment

Author(s): Zhenyu Zhang, Abu Bakar Dawood, Georgios Violakis, Ahmad Abdalwareth, Günter Flachenecker, Panagiotis Polygerinos, Kaspar Althoefer, Martin Angelmahr, Wolfgang Schade
Published in: Sensors, Issue 25, 2025, ISSN 1424-8220
Publisher: MDPI AG
DOI: 10.3390/S25226915

In Vivo Study on the Safe Use of a Novel Intraoperative Sensing Tool for Tissue Stiffness Assessment in Endoscopic Surgery

Author(s): Georgios Violakis, Pantelis Antonakis, Emmanouil Kritsotakis, Theodoros Kozonis, Leonidas Chardalias, Apostolos Papalois, Georgios Agrogiannis, Effrosyni Kampouroglou, Nikolaos Vardakis, Stylianos Kostakis, Eleni Athanasaki, Zhenyu Zhang, Martin Angelmahr, Manousos Konstadoulakis, Panagiotis Polygerinos
Published in: Biosensors, Issue 15, 2025, ISSN 2079-6374
Publisher: MDPI AG
DOI: 10.3390/BIOS15090581

Soft robotics: what’s next in bioinspired design and applications of soft robots?

Author(s): Cecilia Laschi, Li Wen, Fumiya Iida, Arsen Abdulali, Helmut Hauser, Yifan Wang, Ke Liu, Leonardo Ricotti, Matteo Cianchetti, Kaspar Althoefer, Pham Huy Nguyen, Mirko Kovac, Marcello Calisti
Published in: Bioinspiration & Biomimetics, 2025, ISSN 1748-3182
Publisher: IOP Publishing
DOI: 10.1088/1748-3190/AE066D

Rapid and Accurate Shape-Sensing Method Using a Multi-Core Fiber Bragg Grating-Based Optical Fiber

Author(s): Georgios Violakis, Nikolaos Vardakis, Zhenyu Zhang, Martin Angelmahr, Panagiotis Polygerinos
Published in: Sensors, Issue 25, 2025, ISSN 1424-8220
Publisher: MDPI AG
DOI: 10.3390/S25144494

From precision to strength: computer vision for suture quality assessment—an ex vivo pilot study

Author(s): Roberto Spagnulo, Francesco Marzola, Federica Corso, Giovanni Distefano, Matteo Pescio, Kengo Hayashi, Federica Barontini, Giulio Dagnino, Kaspar Althoefer, Bruno Siciliano, Sebastien Ourselin, Alberto Arezzo
Published in: Surgical Endoscopy, 2025, ISSN 0930-2794
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/S00464-025-12441-6

Conference proceedings (3)

Stepwise organ-preserving management of incidental pT1 rectal adenocarcinoma: outcomes after completion transanal endoscopic microsurgery (TEM)

Author(s): Alberto Arezzo, Carlo Alberto Ammirati, Giovanni Distefano, Michele Barbiero, Simone Arolfo, Roberto Passera, Mario Morino
Published in: Surgical Endoscopy, Issue 40, 2026, ISSN 0930-2794
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/S00464-025-12313-Z

Enabling Shape Sensing in MIS Using a Two-Photon Polymerized Waveguide

Author(s): G. Violakis, E. Athanasaki,S. Kostakis, N.Vardakis, N. Tiriakidis, K. Tiriakidis, T. Tiriadikou, Z. Zhang, M. Angelmahr, P.Polygerinos
Published in: Hamlyn Symposium on Medical robotics, ISSN 2755-0036
Publisher: The Hamlyn Centre Imperial College London

Fiber Bragg grating-based tactile sensing tool for minimally invasive surgery

Author(s): Zhenyu Zhang, Georgios Violakis, Abu Bakar Dawood, Ahmad Abdalwareth, Kaspar Althoefer, Panagiotis Polygerinos, Martin Angelmahr, Wolfgang Schade
Published in: Optical Fibers and Sensors for Medical Diagnostics, Treatment, and Environmental Applications XXV, 2025
Publisher: SPIE
DOI: 10.1117/12.3039246

Other (1)

Project website and promotional material