Peri-Ocularly Navigated Exteroceptive Snake Robot for Novel Retinal Interventions

Informazioni relative al progetto

PIONEER

ID dell’accordo di sovvenzione: 714562

DOI

10.3030/714562

Progetto chiuso

Data della firma CE 15 Marzo 2017

Data di avvio 1 Aprile 2017

Data di completamento 31 Marzo 2023

Finanziato da

• EXCELLENT SCIENCE - European Research Council (ERC)

Costo totale

€ 1 500 000,00

Contributo UE

€ 1 500 000,00

Coordinato da

KING'S COLLEGE LONDON
United Kingdom

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Pubblicazioni

Conference proceedings (13)

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

Autori: Sotiris Nousias, Manolis Lourakis, Christos Bergeles
Pubblicato in: Int. Conf. Computer Vision and Pattern Recognition, 2019, Pagina/e 3292-3301
Editore: IEEE
DOI: 10.1109/cvpr.2019.00341

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

Autori: Theodoros Pissas, Claudio Ravasio, Lyndon Da Cruz, Christos Bergeles
Pubblicato in: European Conference on Computer Vision, 2022, Pagina/e 1-18, ISBN 978-3-031-19817-5
Editore: Springer
DOI: 10.1007/978-3-031-19818-2_24

A Linear Approach to Absolute Pose Estimation for Light Fields

Autori: Sotiris Nousias, Manolis Lourakis,Pearse Keane,Sebastien Ourselin,Christos Bergeles
Pubblicato in: 3D Vision, 2020, Pagina/e 1-10
Editore: IEEE
DOI: 10.1109/3dv50981.2020.00077

Force/Velocity Manipulability Analysis for 3D Continuum Robots

Autori: Mohsen Khadem, Lyndon da Cruz, Christos Bergeles
Pubblicato in: IEEE Int. Conf. Intelligent Robots and Systems, 2018, Pagina/e 4920-4926
Editore: IEEE

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

Autori: P Wasylczyk, F Ozimek, M Tiwari, L da Cruz, C Bergeles
Pubblicato in: Hamlyn Symposium on Medical Robotics, 2018, Pagina/e 1-2
Editore: Hamlyn Symposium on Medical Robotics

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

Autori: Zisos Mitros, Mohsen Khadem, Carlo Seneci, Sebastien Ourselin, Lyndon da Cruz, Christos Bergeles
Pubblicato in: IEEE RAS/EMBS Int. Conf. Biomedical Robotics and Biomechatronics, 2018, Pagina/e 1-6
Editore: IEEE

Mechanics Modelling of Eccentrically Arranged Concentric Tubes

Autori: Zisos Mitros, Mohsen Khadem, Carlo Seneci, Lyndon DaCruz, Christos Bergeles
Pubblicato in: Hamlyn Symposium on Medical Robotics, 2018, Pagina/e 23-24
Editore: Hamlyn Centre for Robotic Surgery

Corner-Based Geometric Calibration of Multi-Focus Plenoptic Cameras

Autori: Sotiris Nousias, Francois Chadebecq, Jonas Pichat, Pearse Keane, Sebastien Ourselin, Christos Bergeles
Pubblicato in: Int. Conf. Computer Vision, 2017, Pagina/e 957-965
Editore: Computer Vision Foundation

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

Autori: H Sadati, A Shiva, L Renson, C Rucker, K Althoefer, T Nanayakkara, C Bergeles, H Hauser, I Walker
Pubblicato in: Robotics Science and Systems, 2019, Pagina/e 1-10
Editore: RSS

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

Autori: P Wasylczyk, F Ozimek, M Tiwari, L Da Cruz, C Bergeles
Pubblicato in: IEEE Engineering in Medicine and Biology Conference, 2019, Pagina/e 1657-1661
Editore: IEEE

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

Autori: M Khadem, J O'Neill, Z Mitros, L Da Cruz, C Bergeles
Pubblicato in: IEEE Int. Conf. Intelligent Robots and Systems, 2019, Pagina/e 1-7
Editore: IEEE

Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots

Autori: Zisos Mitros, S.M.Hadi Sadati, Sotiris Nousias, Lyndon da Cruz, Christos Bergeles
Pubblicato in: IEEE Int. Conf. Robotics and Automation, 2022, Pagina/e 1-8
Editore: IEEE
DOI: 10.1109/icra46639.2022.9811897

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

Autori: Lingyun Zeng, S.M.Hadi Sadati, Christos Bergeles
Pubblicato in: IEEE Int. Symp. Medical Robotics, 2023, Pagina/e 1-7
Editore: IEEE
DOI: 10.1109/ismr57123.2023.10130210

Peer reviewed articles (11)

Optic Nerve Sheath Fenestration with a Multi-Arm Continuum Robot

Autori: Zisos Mitros, S.M.Hadi Sadati,Carlo Seneci,Edward Bloch,Konrad Leibrandt, Mohsen Khadem,Lyndon da Cruz,Christos Bergeles
Pubblicato in: IEEE Robotics and Automation Letters, 2020, Pagina/e 4874 - 4881, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.3005129

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

Autori: Charalampos Komninos, Theodoros Pissas, Lina Mekki, Blanca Flores, Edward Bloch, Tom Vercauteren, Sebastien Ourselin, Lyndon Da Cruz, Christos Bergeles
Pubblicato in: Int. J. Computer-Assisted Radiology and Surgery, 2022, Pagina/e 877–883, ISSN 1861-6429
Editore: Springer
DOI: 10.1007/s11548-022-02603-5

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

Autori: S.M.Hadi Sadati, Zisos Mitros, Ross Henry, Lingyun Zeng, Lyndon da Cruz, Christos Bergeles
Pubblicato in: IEEE Robotics and Automation Letters, 2022, Pagina/e 5671 - 5678, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3151399

Towards A Physics-based Model for Steerable Eversion Growing Robots

Autori: Zicong Wu, Mikel De Iturrate Reyzabal, S.M.Hadi Sadati, Hongbin Liu, Sebastien Ourselin, Daniel Richard Leff, Robert Katzschmann, Kawal Rhode, Christos Bergeles
Pubblicato in: IEEE Robotics and Automation Letters, 2022, Pagina/e 1005 - 1012, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3234823

Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

Autori: Mohsen Khadem, John O'Neill, Zisos Mitros, Lyndon da Cruz, Christos Bergeles
Pubblicato in: IEEE Trans Robotics, 2020, Pagina/e 1595 - 1602, ISSN 1941-0468
Editore: IEEE
DOI: 10.1109/tro.2020.2991651

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

Autori: Pierre Berthet-Rayne, S.M.Hadi Sadati, George Petrou, Neel Patel, Stamatia Giannarou, Daniel Richard Leff, Christos Bergeles
Pubblicato in: IEEE Robotics and Automation Letters, 2021, Pagina/e 5056 - 5063, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3068676

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

Autori: Christos Bergeles, Adam M. Dubis, Benjamin Davidson, Melissa Kasilian, Angelos Kalitzeos, Joseph Carroll, Alfredo Dubra, Michel Michaelides, Sebastien Ourselin
Pubblicato in: Biomedical Optics Express, Numero 8/6, 2017, Pagina/e 3081, ISSN 2156-7085
Editore: The Optical Society
DOI: 10.1364/BOE.8.003081

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

Autori: Benjamin Davidson, Angelos Kalitzeos, Joseph Carroll, Alfredo Dubra, Sebastien Ourselin, Michel Michaelides, Christos Bergeles
Pubblicato in: Scientific Reports, Numero 1/8, 2018, ISSN 2045-2322
Editore: Nature Publishing Group

Friction-Inclusive Modeling of Sliding Contact Transmission Systems in Robotics

Autori: Anestis Mablekos-Alexiou, Lyndon da Cruz, Christos Bergeles
Pubblicato in: IEEE Trans Robotics, 2021, Pagina/e 1252 - 1267, ISSN 1552-3098
Editore: 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

Autori: Konrad Leibrandt, Lyndon da Cruz, Christos Bergeles
Pubblicato in: IEEE Trans Robotics, 2023, Pagina/e 1 - 19, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3275381

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

Autori: Zisos Mitros, S.M.Hadi Sadati, Ross Henry, Lyndon da Cruz, Christos Bergeles
Pubblicato in: Annual Review of Control, Robotics, and Autonomous Systems, 2021, Pagina/e 335-359, ISSN 2573-5144
Editore: Annual Review
DOI: 10.1146/annurev-control-042920-014147