Project description
Cognitive Systems and Robotics
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.
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.
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.
- social sciences sociology industrial relations automation
- medical and health sciences clinical medicine cardiology cardiovascular diseases
- engineering and technology electrical engineering, electronic engineering, information engineering electronic engineering sensors
- engineering and technology electrical engineering, electronic engineering, information engineering electronic engineering robotics
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Programme(s)
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Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Topic(s)
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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-ICT-2011-9
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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
3000 LEUVEN
Belgium
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.