CARPE
Compliant Actuation Robotic Platform for Flexible Endoscopy
Total Cost €
0EC-Contrib. €
0Partnership
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0CARPE project word cloud
Explore the words cloud of the CARPE project. It provides you a very rough idea of what is the project "CARPE" about.
Project "CARPE" data sheet
The following table provides information about the project.
| Coordinator |
UNIVERSITY OF DUNDEE
Organization address contact info |
| Coordinator Country | United Kingdom [UK] |
| Total cost | 150˙000 € |
| EC max contribution | 150˙000 € (100%) |
| Programme |
1. H2020-EU.1.1. (EXCELLENT SCIENCE - European Research Council (ERC)) |
| Code Call | ERC-2014-PoC |
| Funding Scheme | ERC-POC |
| Starting year | 2015 |
| Duration (year-month-day) | from 2015-07-01 to 2016-12-31 |
Partnership
Take a look of project's partnership.
| # | ||||
|---|---|---|---|---|
| 1 | UNIVERSITY OF DUNDEE | UK (DUNDEE) | coordinator | 150˙000.00 |
Map
Project objective
Prof Alfred Cuschieri, the overall coordinator of ERC grant Colonic Disease Investigation by Robotic Hydro-colonoscopy (CODIR - grant agreement 268519) has recently submitted the mid-term scientific report on behalf of the two participating Universities (Dundee and Leeds), which highlights several novel IPR (intellectual property rights) issues resulting from the CODIR research, which are pertinent to robotic flexible endoscopy. One of these is based on the ‘active tether robot’ (ATR) idea for the provision of snake like locomotion; i.e., instead of the locomotive power for the active colonoscope being supplied to the back of the robot via a power cable, the design is turned on its head, and replaced by a motile segmented ‘active tether’, which is itself an endoscope, and which can operate in both a gas and aqueous environment. The platform is based on a Mini Compliant Joint (MCJ), with two degree of freedoms (DoFs) using Shape Memory Alloy (SMA) wires as actuators and torsional springs, a synergistic combination which increases the energy efficiency and mechanical bandwidth performance; and at the same time, reduces heat production and stress on the SMA wires. The MJCs actuates by current-induced contraction of SMA wires, two hollow articulating rings with 2 DoFs. As the rings have intersecting axes, the two torsional springs provide roll and pitch. Such a chain of active MCJs provides sinusoidal motor-less locomotion. In essence, CARPE is a generic modular system (capable of translation into any type of flexible endoscope in current clinical use) consisting of independent segments (much like a biomimetic vertebral column), mechanics and electronics. The big advance of CARPE, when used to construct a colonoscope over the current equivalent endoscope, is that once, the end of the CARPE colonoscope is inserted through the anus, it would travel by its intrinsic snake-like locomotion to the caecum.
Publications
| year | authors and title | journal | last update |
|---|---|---|---|
| 2016 |
H. Khan, L. Manfredi, Y. Huan, F. L. Velsink, A. Cuschieri Analysis of performance and energy efficiency of thin shape memory alloy wire-based actuators published pages: , ISSN: , DOI: |
Proceedings ACTUATOR 2016 | 2019-07-24 |
| 2016 |
L. Manfredi, F. L. Velsink, H. Khan, A. Cuschieri A variable impedance actuator using shape memory alloy published pages: , ISSN: , DOI: |
Proceedings ACTUATOR 2016 | 2019-07-24 |
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