ROBOCAST
ROBot and SENSors INtegration as Guidance FOR Enhanced Computer Assisted Surgery and Therapy
| Coordinatore | POLITECNICO DI MILANO
Organization address
address: PIAZZA LEONARDO DA VINCI contact info |
| Nazionalità Coordinatore | Italy [IT] |
| Totale costo | 4˙545˙547 € |
| EC contributo | 3˙450˙000 € |
| Programma | FP7-ICT
Specific Programme "Cooperation": Information and communication technologies |
| Code Call | FP7-ICT-2007-1 |
| Funding Scheme | CP |
| Anno di inizio | 2008 |
| Periodo (anno-mese-giorno) | 2008-01-01 - 2010-12-31 |
Partecipanti
| # | ||||
|---|---|---|---|---|
| 1 |
POLITECNICO DI MILANO
Organization address
address: PIAZZA LEONARDO DA VINCI contact info |
IT (MILANO) | coordinator | 0.00 |
| 2 |
CF CONSULTING FINANZIAMENTI UNIONE EUROPEA SRL
Organization address
address: VIA GIUSEPPE MUSSI 1 contact info |
IT (MILANO) | participant | 0.00 |
| 3 |
IMPERIAL COLLEGE OF SCIENCE, TECHNOLOGY AND MEDICINE
Organization address
address: SOUTH KENSINGTON CAMPUS, EXHIBITION ROAD contact info |
UK (LONDON) | participant | 0.00 |
| 4 |
Karlsruher Institut fuer Technologie
Organization address
address: Kaiserstrasse contact info |
DE (Karlsruhe) | participant | 0.00 |
| 5 |
MAZOR SURGICAL TECHNOLOGIES LTD
Organization address
address: 7 HAESHEL ST. SOUTHERN CAESAREA INDUSTRIAL PARK contact info |
IL (CESAREA) | participant | 0.00 |
| 6 |
PROSURGICS LIMITED
Organization address
address: KNAVES BEECH BUSINESS CENTRE contact info |
UK (HIGHT WYCOMBE) | participant | 0.00 |
| 7 |
TECHNION - ISRAEL INSTITUTE OF TECHNOLOGY.
Organization address
address: SENATE BUILDING TECHNION CITY contact info |
IL (HAIFA) | participant | 0.00 |
| 8 |
TECHNISCHE UNIVERSITAET MUENCHEN
Organization address
address: ARCISSTRASSE 21 contact info |
DE (MUENCHEN) | participant | 0.00 |
| 9 |
THE HEBREW UNIVERSITY OF JERUSALEM.
Organization address
address: GIVAT RAM CAMPUS contact info |
IL (JERUSALEM) | participant | 0.00 |
| 10 |
UNIVERSITA DEGLI STUDI DI VERONA
Organization address
address: VIA DELL' ARTIGLIERE 8 contact info |
IT (VERONA) | participant | 0.00 |
| 11 |
UNIVERSITA' DEGLI STUDI DI SIENA
Organization address
address: VIA BANCHI DI SOTTO 55 contact info |
IT (SIENA) | participant | 0.00 |
Mappa
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Obiettivo del progetto (Objective)
The ROBOCAST project aims to develop ICT scientific methods and technologies which focus on robot assisted keyhole neurosurgery. A modular system, allowing a reduction of the footprint, will be developed with two robots and one active bio-mimetic probe, able to cooperate among themselves in a biomimetic sensory-motor integrated framework. A gross positioning 3-axes robot will support a miniature parallel robot holding the probe to be introduced through a 'keyhole' opening into the skull of the patient. Optical trackers (tracking the end effector and the patient), an imaging endoscope camera, and electromagnetic position and force sensors (on the probe) will extend robot perception by providing the control system with position and force feedback from the operating tools, and with visual information of the surgical field. Path planning outside and inside the body will be autonomously proposed by the control system by processing of preoperative diagnostic information. The path inside the brain will be planned on the basis of a 'risk atlas' reproducing a fuzzy representation of a brain atlas, relating structures to a 'level of danger'. Construction of the atlas will rely on cognitive learning, where the system will be able to provide the surgeon with explanations for any suggested action. Semi-autonomous plan updating, following unforeseen changes occurring during surgery and based on processing of information gathered intra-operatively (e.g. ultrasonic images), will be negotiated between the system and the surgeon, where the latter will be allowed to specify any additional constraints to the planner. Ex- ante- and final path plan inside and outside the body will thus stem from the interaction between the surgeon and the intelligent core of the system. The interface between the system and the user will require minimal interaction while providing maximum information i.e. an intuitive interface which relies on context-based interpretation of surgeon commands.
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