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MRI and Ultrasound Robotic Assisted Biopsy

Total Cost €


EC-Contrib. €






Project "MURAB" 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 4˙343˙307 €
 EC max contribution 3˙982˙307 € (92%)
 Programme 1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
 Code Call H2020-ICT-2015
 Funding Scheme RIA
 Starting year 2016
 Duration (year-month-day) from 2016-01-01   to  2020-06-30


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    UNIVERSITEIT TWENTE NL (ENSCHEDE) coordinator 1˙210˙800.00
2    KUKA DEUTSCHLAND GMBH DE (AUGSBURG) participant 1˙250˙000.00
4    UNIVERSITA DEGLI STUDI DI VERONA IT (VERONA) participant 491˙875.00
6    MEDIZINISCHE UNIVERSITAET WIEN AT (WIEN) participant 139˙425.00


 Project objective

The MURAB project has the ambition to revolutionise the way cancer screening and muscle diseases are researched for patients and has the potential to save lives by early detection and treatment. The project intends to create a new paradigm in which, the precision of great medical imaging modalities like MRI and Ultrasound are combined with the precision of robotics in order to target the right place in the body. This will be achieved by identifying a target using Magnetic Resonance Imaging (MRI) and then use a robot with an ultrasound (US) probe to match the images and navigate to the right location. This will be done thanks to a new innovative technique, which will be developed in the project and called Tissue Active Slam (TAS) which will use different techniques and modalities, like elastography, in order to cope with the deformation of the tissues. Such a procedure has the potential to drastically improve the clinical workflow and save lives by ensuring an exact targeting of (small) lesions, which are visible under MRI and not under US. Technologies developed within MURAB also have the potential to improve other clinical procedures. Clinically, two applications will be targeted and validated in the project: breast cancer diagnostics (MUW and ZGT) and muscle disease diagnostics (UMCN). Considering the potential for the market, industrial partners are involved with expertise in the delivery of safe robotics components and applications (KUKA), as well as with great knowledge and ambition in pushing innovation to the medical market (SIEMENS).


List of deliverables.
Final Design Robotic Head Demonstrators, pilots, prototypes 2020-04-07 20:42:07
Professional Video on the MURAB Concept Websites, patent fillings, videos etc. 2020-04-07 20:42:07
Progress report on US/MR image registration Documents, reports 2020-04-07 20:42:07
Review on local feature extraction in 3D medical images Documents, reports 2020-04-07 20:42:07
Data Management Plan Documents, reports 2020-04-07 20:42:07
Establishment of the Advisory Board Other 2020-04-07 20:42:07
MURAB Web Page Websites, patent fillings, videos etc. 2020-04-07 20:42:07
Robot flange Demonstrators, pilots, prototypes 2020-04-07 20:42:07
Consideration and recommendation on preclinical tests Documents, reports 2020-04-07 20:42:07
Finalization of the system architecture Documents, reports 2020-04-07 20:42:07
Review on non-rigid local deformation models in 3D medical images. Documents, reports 2020-04-07 20:42:07
Review on state estimators applicable for SLAM-like problems. Documents, reports 2020-04-07 20:42:07
ORDP: Data Management Plan Open Research Data Pilot 2020-04-07 20:42:07
Review on state space models that describe inertial behaviour. Documents, reports 2020-04-07 20:42:07

Take a look to the deliverables list in detail:  detailed list of MURAB deliverables.


year authors and title journal last update
List of publications.
2017 A.S.S. Meel-van den Abeelen, G. Weijers, J.C.M. van Zelst, J.M. Thijssen, R.M. Mann, C.L. de Korte
3D quantitative breast ultrasound analysis for differentiating fibroadenomas and carcinomas smaller than 1 cm
published pages: 141-147, ISSN: 0720-048X, DOI: 10.1016/j.ejrad.2017.01.006
European Journal of Radiology 88 2020-04-07
2016 D. Dall\'Alba, F. Bovo, D. Zerbato, A. Forgione, P. Fiorini
Towards an intra-operative calibration-preserving freehand ultrasound system
published pages: , ISSN: , DOI:
Computer Aided Radiology and Surgery 2020-04-07
2017 Bogdan M. Maris, Françoise J. Siepel, Diego Dall’Alba, Vincent Groenhuis, Paolo Fiorini, Stefano Stramigioli
MURAB: MRI and ultrasound robotic assisted biopsy
published pages: , ISSN: , DOI:
2018 Johannes Lachner
Combining MRI and Ultrasound for robotic assisted biopsy in breast cancer and muscle diseases
published pages: , ISSN: , DOI:
22/02/18 2020-04-07
2018 Allmendinger, Felix
Program the Task, not the Robot!
published pages: , ISSN: , DOI:
02/09/18 2020-04-07
2017 Allmendinger, Felix
Operational Space Control from an Industrial Point of View
published pages: , ISSN: , DOI:
23/10/17 2020-04-07
2019 Anton Nikolaev, Hendrik H. G. Hansen, Eleonora Tagliabue, Bogdan Mihai Maris, Vincent Groenhuis, Chris L. de Korte
Ultrasound-guided breast biopsy of ultrasound occult lesions using multimodality image co-registration and tissue displacement tracking
published pages: Poster, ISSN: , DOI:
2019 Bogdan Maris, Eros Ghignoni, Paolo Fiorini
Convolutional network for multi-planar pose prediction in medical imaging
published pages: , ISSN: , DOI:
2018 Francesco Visentin, Vincent Groenhuis, Bogdan Maris, Diego Dall’Alba, Françoise Siepel, Stefano Stramigioli, Paolo Fiorini
Iterative simulations to estimate the elastic properties from a series of MRI images followed by MRI-US validation
published pages: , ISSN: 0140-0118, DOI: 10.1007/s11517-018-1931-z
Medical & Biological Engineering & Computing 2020-04-07
2018 Eleonora Tagliabue, Bogdan Maris, Andrea Roberti, Anton nikolaev, Leon De Jong, Paolo Fiorini
Patient specific FE modeling for deformable breast registration
published pages: , ISSN: , DOI:
2019 Lachner J, Schettino V, Allmendinger F, Fiore MD, Ficuciello F, Siciliano B, Stramigioli S
The influence of coordinates in robotic manipulability analysis
published pages: , ISSN: , DOI:
IEEE Robotics and Automation Letters (RA-L) 2020-04-07
2018 L. de Jong1, M. K. Welleweerd2, J. van Zelst1, F. J. Siepel2, S. Stramigioli2, J. J. Futterer1, R. M. Mann1, C. L. de Korte1; 1Nijmegen/NL, 2Enschede/NL
Breast lesion markers for 3D ultrasound examinations of the breast
published pages: , ISSN: , DOI: 10.1594/ecr2018/c-2956
01/03/2018 2020-04-07
2019 Leon de Jong, Anton Nikolaev, Anna Greco, Jurgen Fütterer, Chris de Korte
Automated 3D Ultrasound for Quantitative Assessment of Mechanical Properties of Skeletal Muscle
published pages: Poster 20, ISSN: , DOI:
24/01/2019 2020-04-07
2017 Bogdan M. Maris, Françoise J. Siepel, Diego Dall’Alba, Vincent Groenhuis, Paolo Fiorini, Stefano Stramigioli
MURAB: A new robotic system for high precision biopsy
published pages: , ISSN: , DOI:
September 24–28, 2017 2020-04-07
2018 Johannes Lachner
Safety related task level control with redundant manipulator in medical application
published pages: , ISSN: , DOI:
CURAC PhD workshop 24/05/18 2020-04-07
2018 Vincent Groenhuis, Francesco Visentin, Françoise J. Siepel, Bogdan M. Maris, Diego Dall’alba, Paolo Fiorini, Stefano Stramigioli
Analytical derivation of elasticity in breast phantoms for deformation tracking
published pages: 1641-1650, ISSN: 1861-6410, DOI: 10.1007/s11548-018-1803-x
International Journal of Computer Assisted Radiology and Surgery 13/10 2020-04-07
2017 Francesco Visentin, Bogdan Maris, Paolo Fiorini
Breast Tissue Parameter Estimation Using Finite Element Analysis
published pages: , ISSN: , DOI:
2019 Eleonora Tagliabue, Diego Dall’Alba, Enrico Magnabosco, Chiara Tenga, Paolo Fiorini
A position-based framework for the prediction of probe-induced lesion displacement in Ultrasound-guided breast biopsy
published pages: , ISSN: , DOI:

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