Peri-Ocularly Navigated Exteroceptive Snake Robot for Novel Retinal Interventions

Project Information

PIONEER

Grant agreement ID: 714562

DOI

10.3030/714562

Project closed

EC signature date 15 March 2017

Start date 1 April 2017

End date 31 March 2023

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 1 500 000,00

EU contribution

€ 1 500 000,00

Coordinated by

KING'S COLLEGE LONDON
United Kingdom

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 .

Publications

Conference proceedings (13)

Large-Scale, Metric Structure from Motion for Unordered Light Fields

Author(s): Sotiris Nousias, Manolis Lourakis, Christos Bergeles
Published in: Int. Conf. Computer Vision and Pattern Recognition, 2019, Page(s) 3292-3301
Publisher: IEEE
DOI: 10.1109/cvpr.2019.00341

Multi-scale and Cross-scale Contrastive Learning for Semantic Segmentation

Author(s): Theodoros Pissas, Claudio Ravasio, Lyndon Da Cruz, Christos Bergeles
Published in: European Conference on Computer Vision, 2022, Page(s) 1-18, ISBN 978-3-031-19817-5
Publisher: Springer
DOI: 10.1007/978-3-031-19818-2_24

A Linear Approach to Absolute Pose Estimation for Light Fields

Author(s): Sotiris Nousias, Manolis Lourakis,Pearse Keane,Sebastien Ourselin,Christos Bergeles
Published in: 3D Vision, 2020, Page(s) 1-10
Publisher: IEEE
DOI: 10.1109/3dv50981.2020.00077

Force/Velocity Manipulability Analysis for 3D Continuum Robots

Author(s): Mohsen Khadem, Lyndon da Cruz, Christos Bergeles
Published in: IEEE Int. Conf. Intelligent Robots and Systems, 2018, Page(s) 4920-4926
Publisher: IEEE

Pressure-sensitive Bio-compatible Skin Sleeve for Millimetre-Scale Flexible Instruments

Author(s): P Wasylczyk, F Ozimek, M Tiwari, L da Cruz, C Bergeles
Published in: Hamlyn Symposium on Medical Robotics, 2018, Page(s) 1-2
Publisher: Hamlyn Symposium on Medical Robotics

Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

Author(s): Zisos Mitros, Mohsen Khadem, Carlo Seneci, Sebastien Ourselin, Lyndon da Cruz, Christos Bergeles
Published in: IEEE RAS/EMBS Int. Conf. Biomedical Robotics and Biomechatronics, 2018, Page(s) 1-6
Publisher: IEEE

Mechanics Modelling of Eccentrically Arranged Concentric Tubes

Author(s): Zisos Mitros, Mohsen Khadem, Carlo Seneci, Lyndon DaCruz, Christos Bergeles
Published in: Hamlyn Symposium on Medical Robotics, 2018, Page(s) 23-24
Publisher: Hamlyn Centre for Robotic Surgery

Corner-Based Geometric Calibration of Multi-Focus Plenoptic Cameras

Author(s): Sotiris Nousias, Francois Chadebecq, Jonas Pichat, Pearse Keane, Sebastien Ourselin, Christos Bergeles
Published in: Int. Conf. Computer Vision, 2017, Page(s) 957-965
Publisher: Computer Vision Foundation

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators

Author(s): H Sadati, A Shiva, L Renson, C Rucker, K Althoefer, T Nanayakkara, C Bergeles, H Hauser, I Walker
Published in: Robotics Science and Systems, 2019, Page(s) 1-10
Publisher: RSS

Bio-compatible Piezoresistive Pressure Sensing Skin Sleeve for Millimetre-Scale Flexible Robots: Design, Manufacturing and Pitfalls

Author(s): P Wasylczyk, F Ozimek, M Tiwari, L Da Cruz, C Bergeles
Published in: IEEE Engineering in Medicine and Biology Conference, 2019, Page(s) 1657-1661
Publisher: IEEE

Autonomous Steering of Concentric Tube Robots with Enhanced Force/Velocity Manipulability

Author(s): M Khadem, J O'Neill, Z Mitros, L Da Cruz, C Bergeles
Published in: IEEE Int. Conf. Intelligent Robots and Systems, 2019, Page(s) 1-7
Publisher: IEEE

Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots

Author(s): Zisos Mitros, S.M.Hadi Sadati, Sotiris Nousias, Lyndon da Cruz, Christos Bergeles
Published in: IEEE Int. Conf. Robotics and Automation, 2022, Page(s) 1-8
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9811897

Koopman Operator-based Extended Kalman Filter for Cosserat Rod Wrench Estimation

Author(s): Lingyun Zeng, S.M.Hadi Sadati, Christos Bergeles
Published in: IEEE Int. Symp. Medical Robotics, 2023, Page(s) 1-7
Publisher: IEEE
DOI: 10.1109/ismr57123.2023.10130210

Peer reviewed articles (11)

Optic Nerve Sheath Fenestration with a Multi-Arm Continuum Robot

Author(s): Zisos Mitros, S.M.Hadi Sadati,Carlo Seneci,Edward Bloch,Konrad Leibrandt, Mohsen Khadem,Lyndon da Cruz,Christos Bergeles
Published in: IEEE Robotics and Automation Letters, 2020, Page(s) 4874 - 4881, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3005129

Surgical Biomicroscopy Guided Intra-operative Optical Coherence Tomography (iOCT) Image Super Resolution

Author(s): Charalampos Komninos, Theodoros Pissas, Lina Mekki, Blanca Flores, Edward Bloch, Tom Vercauteren, Sebastien Ourselin, Lyndon Da Cruz, Christos Bergeles
Published in: Int. J. Computer-Assisted Radiology and Surgery, 2022, Page(s) 877–883, ISSN 1861-6429
Publisher: Springer
DOI: 10.1007/s11548-022-02603-5

Real-Time Dynamics of Concentric Tube Robots with Reduced-Order Kinematics Based on Shape Interpolation

Author(s): S.M.Hadi Sadati, Zisos Mitros, Ross Henry, Lingyun Zeng, Lyndon da Cruz, Christos Bergeles
Published in: IEEE Robotics and Automation Letters, 2022, Page(s) 5671 - 5678, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3151399

Towards A Physics-based Model for Steerable Eversion Growing Robots

Author(s): Zicong Wu, Mikel De Iturrate Reyzabal, S.M.Hadi Sadati, Hongbin Liu, Sebastien Ourselin, Daniel Richard Leff, Robert Katzschmann, Kawal Rhode, Christos Bergeles
Published in: IEEE Robotics and Automation Letters, 2022, Page(s) 1005 - 1012, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3234823

Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

Author(s): Mohsen Khadem, John O'Neill, Zisos Mitros, Lyndon da Cruz, Christos Bergeles
Published in: IEEE Trans Robotics, 2020, Page(s) 1595 - 1602, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2020.2991651

MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection

Author(s): Pierre Berthet-Rayne, S.M.Hadi Sadati, George Petrou, Neel Patel, Stamatia Giannarou, Daniel Richard Leff, Christos Bergeles
Published in: IEEE Robotics and Automation Letters, 2021, Page(s) 5056 - 5063, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068676

Unsupervised identification of cone photoreceptors in non-confocal adaptive optics scanning light ophthalmoscope images

Author(s): Christos Bergeles, Adam M. Dubis, Benjamin Davidson, Melissa Kasilian, Angelos Kalitzeos, Joseph Carroll, Alfredo Dubra, Michel Michaelides, Sebastien Ourselin
Published in: Biomedical Optics Express, Issue 8/6, 2017, Page(s) 3081, ISSN 2156-7085
Publisher: The Optical Society
DOI: 10.1364/BOE.8.003081

Automatic Cone Photoreceptor Localisation in Healthy and Stargardt Afflicted Retinas Using Deep Learning

Author(s): Benjamin Davidson, Angelos Kalitzeos, Joseph Carroll, Alfredo Dubra, Sebastien Ourselin, Michel Michaelides, Christos Bergeles
Published in: Scientific Reports, Issue 1/8, 2018, ISSN 2045-2322
Publisher: Nature Publishing Group

Friction-Inclusive Modeling of Sliding Contact Transmission Systems in Robotics

Author(s): Anestis Mablekos-Alexiou, Lyndon da Cruz, Christos Bergeles
Published in: IEEE Trans Robotics, 2021, Page(s) 1252 - 1267, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.3045643

Designing Robots for Reachability and Dexterity: Continuum Surgical Robots as a Pretext Application

Author(s): Konrad Leibrandt, Lyndon da Cruz, Christos Bergeles
Published in: IEEE Trans Robotics, 2023, Page(s) 1 - 19, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3275381

From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots

Author(s): Zisos Mitros, S.M.Hadi Sadati, Ross Henry, Lyndon da Cruz, Christos Bergeles
Published in: Annual Review of Control, Robotics, and Autonomous Systems, 2021, Page(s) 335-359, ISSN 2573-5144
Publisher: Annual Review
DOI: 10.1146/annurev-control-042920-014147