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Robot-Assisted Flexible Needle Steering for Targeted Delivery of Magnetic Agents

Total Cost €


EC-Contrib. €






 ROBOTAR project word cloud

Explore the words cloud of the ROBOTAR project. It provides you a very rough idea of what is the project "ROBOTAR" about.

percutaneous    ineffective    steer    robustly    needles    paths    overcome    agents    magnetic    time    predict    deformation    intended    biomechanical    functionalities    tracking    motivated    realistic    plans    treatment    mis    site    models    nanoparticles    instruments    imaging    operative    outcomes    minimally    diagnostic    surgery    tips    3d    magnetically    pathology    injected    guided    close    insertion    manual    acquired    accurately    accomplished    needle    designated    minimize    data    clusters    modalities    tissue    scenarios    guiding    ultrafast    invasively    inaccurate    visualized    delivering    gained    optical    assortment    organ    coupled    patient    reduce    clinical    shape    personalized    ultrasound    actuated    rigid    myriad    images    physiological    microrobots    misdiagnosis    precise    trauma    invasive    flexible    integrating    permit    truly    placement    options    revolutionize    electromagnetic    applicable    presently    prototype    body    sensors    deviate    invasiveness    robotic    uncontrolled    drug    attempted    robotar    describing    therapeutic    demonstrated   

Project "ROBOTAR" data sheet

The following table provides information about the project.


Organization address
postcode: 7522 NB

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Netherlands [NL]
 Project website
 Total cost 1˙500˙000 €
 EC max contribution 1˙500˙000 € (100%)
 Programme 1. H2020-EU.1.1. (EXCELLENT SCIENCE - European Research Council (ERC))
 Code Call ERC-2014-STG
 Funding Scheme ERC-STG
 Starting year 2015
 Duration (year-month-day) from 2015-06-01   to  2020-05-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    UNIVERSITEIT TWENTE NL (ENSCHEDE) coordinator 1˙500˙000.00


 Project objective

Diagnostic agents are currently injected into the body in an uncontrolled way and visualized using non-real-time imaging modalities. Delivering agents close to the organ and magnetically guiding them to the target would permit a myriad of novel diagnostic and therapeutic options, including on-site pathology and targeted drug delivery. Such an advance would truly revolutionize minimally invasive surgery (MIS). Presently MIS often involves manual percutaneous insertion of rigid needles. These needles deviate from their intended paths due to tissue deformation and physiological processes. Inaccurate needle placement may result in misdiagnosis or ineffective treatment. Thus, the goal of ROBOTAR is to design a robotic system to accurately steer flexible needles through tissue, and enable precise delivery of agents by magnetically guiding them to a designated target.

There are several challenges: 3D models describing the evolving needle shape are not available, real-time control of flexible needles using 3D ultrasound (US) images has not been demonstrated, and US-guided tracking of magnetic agents has not been attempted. These challenges will be overcome by using non-invasively (via US) acquired tissue properties to develop patient-specific biomechanical models that predict needle paths for pre-operative plans. Intra-operative control of flexible needles with actuated tips will be accomplished by integrating plans with data from US images and optical sensors. Ultrafast US tracking methods will be coupled to an electromagnetic system to robustly control the agents. A prototype will be evaluated using microrobots and clusters of nanoparticles in scenarios with realistic physiological functionalities. The knowledge gained will be applicable to a range of flexible instruments, and to an assortment of personalized treatment scenarios. This research is motivated by the existing need to further reduce invasiveness of MIS, minimize patient trauma, and improve clinical outcomes.


year authors and title journal last update
List of publications.
2017 Arijit Ghosh, ChangKyu Yoon, Federico Ongaro, Stefano Scheggi, Florin M. Selaru, Sarthak Misra, David H. Gracias
Stimuli-Responsive Soft Untethered Grippers for Drug Delivery and Robotic Surgery
published pages: , ISSN: 2297-3079, DOI: 10.3389/fmech.2017.00007
Frontiers in Mechanical Engineering 3 2019-05-29
2016 Claudio Pacchierotti, Stefano Scheggi, Domenico Prattichizzo, Sarthak Misra
Haptic Feedback for Microrobotics Applications: A Review
published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2016.00053
Frontiers in Robotics and AI 3 2019-05-29
2016 Federico Ongaro, Stefano Scheggi, ChangKyu Yoon, Frank van den Brink, Seung Hyun Oh, David H. Gracias, Sarthak Misra
Autonomous planning and control of soft untethered grippers in unstructured environments
published pages: , ISSN: 2194-6418, DOI: 10.1007/s12213-016-0091-1
Journal of Micro-Bio Robotics 2019-05-29
2017 Claudio Pacchierotti, Federico Ongaro, Frank van den Brink, ChangKyu Yoon, Domenico Prattichizzo, David H. Gracias, Sarthak Misra
Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
published pages: 1-17, ISSN: 1545-5955, DOI: 10.1109/TASE.2016.2635106
IEEE Transactions on Automation Science and Engineering 2019-05-29
2016 Dawson, I.R.; Campisano, F.; Gramuglia, F.; Obstein, K.L.; Hekman, Edsko E.G.; Sikorski, Jakub; Misra, Sarthak; Valdastri, P.
Modeling and validation of a low-cost soft-tethered endoscopic platform
published pages: , ISSN: , DOI:
\"Hamlyn symposium \"\"New challenges and emerging platforms\"\"\" 2 2019-05-29
2016 F. Campisano, F. Gramuglia, I.R. Dawson, K.L. Obstein, S. Misra, E. De Momi, P. Valdastri
Water Jet Actuation for Ultra-low Cost Endoscopy: Characterization of Miniature Nozzles Fabricated by Rapid Prototyping
published pages: 388-391, ISSN: 1877-7058, DOI: 10.1016/j.proeng.2016.11.147
Procedia Engineering 168 2019-05-29
2017 Federico Ongaro, Stefano Scheggi, Arijit Ghosh, Alper Denasi, David H. Gracias, Sarthak Misra
Design, characterization and control of thermally-responsive and magnetically-actuated micro-grippers at the air-water interface
published pages: e0187441, ISSN: 1932-6203, DOI: 10.1371/journal.pone.0187441
PLOS ONE 12/12 2019-04-03
2018 Jason Chevrie, Navid Shahriari, Marie Babel, Alexandre Krupa, Sarthak Misra
Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback
published pages: 2338-2345, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2809484
IEEE Robotics and Automation Letters 3/3 2019-04-04

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