STIFF-FLOP
STIFFness controllable Flexible and Learn-able manipulator for surgical OPerations
| Coordinatore | KING'S COLLEGE LONDON
Organization address
address: 9th Floor, Capital House, Weston St 42 contact info |
| Nazionalità Coordinatore | United Kingdom [UK] |
| Totale costo | 9˙554˙661 € |
| EC contributo | 7˙350˙000 € |
| Programma | FP7-ICT
Specific Programme "Cooperation": Information and communication technologies |
| Code Call | FP7-ICT-2011-7 |
| Funding Scheme | CP |
| Anno di inizio | 2012 |
| Periodo (anno-mese-giorno) | 2012-01-01 - 2015-12-31 |
Partecipanti
| # | ||||
|---|---|---|---|---|
| 1 |
KING'S COLLEGE LONDON
Organization address
address: 9th Floor, Capital House, Weston St 42 contact info |
UK (London) | coordinator | 0.00 |
| 2 |
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Organization address
address: VIA MOREGO contact info |
IT (GENOVA) | participant | 0.00 |
| 3 |
FUNDACION TECNALIA RESEARCH & INNOVATION
Organization address
address: PASEO MIKELETEGI PARQUE TECNOLOGICO DE MIRAMON contact info |
ES (DONOSTIA SAN SEBASTIAN) | participant | 0.00 |
| 4 |
FUNDACJA ROZWOJU KARDIOCHIRURGII IM PROF ZBIGNIEWA RELIGI
Organization address
address: UL. WOLNOSCI contact info |
PL (ZABRZE) | participant | 0.00 |
| 5 |
PRZEMYSLOWY INSTYTUT AUTOMATYKI I POMIAROW PIAP
Organization address
address: ALEJE JEROZOLIMSKIE 202 contact info |
PL (WARSAW) | participant | 0.00 |
| 6 |
SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
Organization address
address: PIAZZA MARTIRI DELLA LIBERTA, 33 contact info |
IT (PISA) | participant | 0.00 |
| 7 |
STICHTING E.A.E.S
Organization address
address: LUCHTHAVENWEG contact info |
NL (EINDHOVEN) | participant | 0.00 |
| 8 |
THE HEBREW UNIVERSITY OF JERUSALEM
Organization address
address: GIVAT RAM CAMPUS contact info |
IL (JERUSALEM) | participant | 0.00 |
| 9 |
THE SHADOW ROBOT COMPANY LIMITED
Organization address
address: IDA Road contact info |
UK (London) | participant | 0.00 |
| 10 |
UNIVERSITA DEGLI STUDI DI TORINO
Organization address
address: Via Giuseppe Verdi contact info |
IT (TORINO) | participant | 0.00 |
| 11 |
UNIVERSITAET SIEGEN
Organization address
address: HERRENGARTEN contact info |
DE (SIEGEN) | participant | 0.00 |
| 12 |
UNIVERSITY OF SURREY
Organization address
address: Stag Hill contact info |
UK (GUILDFORD) | participant | 0.00 |
Mappa
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Obiettivo del progetto (Objective)
Summary: In Minimally Invasive Surgery (MIS), tools go through narrow openings and manipulate soft organs that can move, deform, or change stiffness. There are limitations on modern laparoscopic and robot-assisted surgical systems due to restricted access through Trocar ports, lack of haptic feedback, and difficulties with rigid robot tools operating inside a confined space filled with organs. Also, many control algorithms suffer from stability problems in the presence of unexpected conditions. Yet biological 'manipulators', like the octopus arm and the elephant trunk, can manipulate objects while controlling the stiffness of selected body parts and being inherently compliant when interacting with objects.nnContributions: We will design, build and operate an innovative soft robotic arm that can squeeze through a standard MIS port (e.g. 12 to 15 mm diameter Trocar port or 20 mm diameter umbilical single port), reconfigure itself and stiffen by hydrostatic actuation to perform compliant force control tasks while facing unexpected situations. We will address the complete system: the design and fabrication of the soft manipulator with a gripper at the tip, distributed sensing, biologically inspired actuation and control architectures, learning and developing cognition through interaction with a human instructor, and manipulating soft objects in complex and uncertain environments.nWe will advance the state of the art of embodied cognition through real world experiments on manipulators that can selectively control their stiffness and degrees of freedom morphing from a complete soft state to an articulated one. This variable stiffness robot arm will have many applications in MIS including NOTES (Natural Orifices Translumenal Endoscopic Surgery). With the support of KARL STORZ ENDOSCOPES, the European Association for Endoscopic Surgery (EAES) and three internationally-leading medical institutes (see support letters), we will test the soft arm in a minimally invasive robotic surgery application to demonstrate its feasibility.