The DG Information Society & Media, sector E1 Cognitive Systems and Robotics Luxembourg
For further information, materials and on-going work, please refer to NearLab website.
The ACTIVE project exploits ICT and other engineering
methods and technologies for the design anddevelopment
of an integrated redundant robotic
platform for neurosurgery. A light and agile redundant
roboticcell with 20 degrees-of-freedom (DoFs) and an
advanced processing unit for pre- and intra-operative
control willoperate both autonomously and cooperatively
with surgical staff on the brain.As the patient will not
be considered rigidly fixed to the operating table
and/or to the robot, the system will pushthe boundaries
of the state of the art in the fields of robotics and
control for the accuracy and bandwidth requiredby the
challenging and complex surgical scenario.
Two 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 novelhaptic interface for tele-manipulation and by a collaborative control mode ("hands-on"). Active constraints will limit and direct tool tip position, force and speedpreventing damage to eloquent areas, defined on realistic tissue models updated on-the-field through sensorsinformation. The active constraints will be updated (displaced) in real time in response to the feedback fromtool-tissue interactions and any additional constraints arising from a complex shared workspace. The overarchingcontrol architecture of ACTIVE will negotiate the requirements and references of the two slave robots.
The operative room represents the epitome of a dynamic and unstructured volatile environment, crowded withpeople and instruments. The workspace will thus be monitored by environmental cameras, and machine learning techniques will be used for the safe workspace sharing. Cognitive skills will help to identify the target location in the brain and constrain robotic motionsby means of on-field observations.