ACTIVE
Active Constraints Technologies for Ill-defined or Volatile Environments
| Coordinatore | POLITECNICO DI MILANO
Organization address
address: Via G. Ponzio 34/5 contact info |
| Nazionalità Coordinatore | Italy [IT] |
| Totale costo | 7˙620˙767 € |
| EC contributo | 5˙778˙000 € |
| Programma | FP7-ICT
Specific Programme "Cooperation": Information and communication technologies |
| Code Call | FP7-ICT-2009-6 |
| Funding Scheme | CP |
| Anno di inizio | 2011 |
| Periodo (anno-mese-giorno) | 2011-04-01 - 2015-03-31 |
Partecipanti
| # | ||||
|---|---|---|---|---|
| 1 |
POLITECNICO DI MILANO
Organization address
address: Via G. Ponzio 34/5 contact info |
IT (MILANO) | coordinator | 0.00 |
| 2 |
AZIENDA OSPEDALIERA OSPEDALE NIGUARDA CA' GRANDA
Organization address
address: PIAZZA OSPEDALE MAGGIORE 3 contact info |
IT (MILANO) | participant | 0.00 |
| 3 |
AZIENDA OSPEDALIERA SAN PAOLO
Organization address
address: VIA ANTONIO DI RUDINI 8 contact info |
IT (MILAN) | participant | 0.00 |
| 4 |
CF CONSULTING FINANZIAMENTI UNIONE EUROPEA SRL
Organization address
address: Via Giuseppe Mussi 1 contact info |
IT (MILANO) | participant | 0.00 |
| 5 |
CONSIGLIO NAZIONALE DELLE RICERCHE
Organization address
address: PIAZZALE ALDO MORO 7 contact info |
IT (ROMA) | participant | 0.00 |
| 6 |
DEUTSCHES FORSCHUNGSZENTRUM FUER KUENSTLICHE INTELLIGENZ GMBH
Organization address
address: Trippstadter Strasse 122 contact info |
DE (KAISERSLAUTERN) | participant | 0.00 |
| 7 |
FONDAZIONE IRCCS CA' GRANDA - OSPEDALE MAGGIORE POLICLINICO
Organization address
address: VIA FRANCESCO SFORZA 28 contact info |
IT (MILANO) | participant | 0.00 |
| 8 |
FONDAZIONE IRCCS ISTITUTO NEUROLOGICO CARLO BESTA
Organization address
address: VIA CELORIA 11 contact info |
IT (MILANO) | participant | 0.00 |
| 9 |
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Organization address
address: VIA MOREGO 30 contact info |
IT (GENOVA) | participant | 0.00 |
| 10 |
Force Dimension s.a.r.l.
Organization address
address: ROUTE SAINT CERGUE 295 contact info |
CH (NYON) | participant | 0.00 |
| 11 |
IMPERIAL COLLEGE OF SCIENCE, TECHNOLOGY AND MEDICINE
Organization address
address: Exhibition Road, South Kensington Campus contact info |
UK (LONDON) | participant | 0.00 |
| 12 |
Karlsruher Institut fuer Technologie
Organization address
address: Kaiserstrasse 12 contact info |
DE (Karlsruhe) | participant | 0.00 |
| 13 |
KUKA Laboratories GmbH
Organization address
address: Zugspitzstrasse 140 contact info |
DE (Augsburg) | participant | 0.00 |
| 14 |
MEDIMATON LIMITED
Organization address
address: CANDLEMAS LANE 49 contact info |
UK (BEACONSFIELD) | participant | 0.00 |
| 15 |
Renishaw (Ireland) Ltd
Organization address
address: Swords Business Park contact info |
IE (Dublin) | participant | 0.00 |
| 16 |
TECHNION ISRAEL INSTITUTE OF TECHNOLOGY
Organization address
address: SENATE BUILDING TECHNION CITY contact info |
IL (HAIFA) | participant | 0.00 |
| 17 |
TECHNISCHE UNIVERSITAET MUENCHEN
Organization address
address: Arcisstrasse 21 contact info |
DE (MUENCHEN) | participant | 0.00 |
| 18 |
THE FOUNDATION FOR MEDICAL RESEARCH INFRASTRUCTURAL DEVELOPMENT AND HEALTH SERVICES NEXT TO THE MEDICAL CENTER TEL AVIV
Organization address
address: WEIZMANN STREET 6 contact info |
IL (Tel Aviv) | participant | 0.00 |
Mappa
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Obiettivo del progetto (Objective)
The ACTIVE project exploits ICT and other engineering methods and technologies for the design and development of an integrated redundant robotic platform for neurosurgery. A light and agile redundant robotic cell with 20 degrees-of-freedom (DoFs) and an advanced processing unit for pre- and intra-operative control will operate both autonomously and cooperatively with surgical staff on the brain, a loosely structured environment. As the patient will not be considered rigidly fixed to the operating table and/or to the robot, the system will push the boundaries of the state of the art in the fields of robotics and control for the accuracy and bandwidth required by the challenging and complex surgical scenario.nnTwo cooperating robots will interact with the brain that will deform for the tool contact, blood pressure, breathing and deliquoration. Human factors are considered by allowing easy interaction with the users through a novel haptic interface for tele-manipulation and by a collaborative control mode ('hands-on'). Force and video feedback signals will be provided to surgeons. Active constraints will limit and direct tool tip position, force and speed preventing damage to eloquent areas, defined on realistic tissue models updated on-the-field through sensors information. The active constraints will be updated (displaced) in real time in response to the feedback from tool-tissue interactions and any additional constraints arising from a complex shared workspace. The overarching control architecture of ACTIVE will negotiate the requirements and references of the two slave robots.nnThe operative room represents the epitome of a dynamic and unstructured volatile environment, crowded with people and instruments. The workspace will thus be monitored by environmental cameras, and machine learning techniques will be used for the safe workspace sharing. Decisions about collision avoidance and downgrading to a safe state will be taken autonomously, the movement of the head of the patient will be filtered by a bespoke active head frame, while fast and unpredictable patient motion will be compensated by a real-time cooperative control system. Cognitive skills will help to identify the target location in the brain and constrain robotic motions by means of on-field observations.
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