Autonomous Robotics for Transcatheter dEliveRy sYstems

Informations projet

ARTERY

N° de convention de subvention: 101017140

DOI 10.3030/101017140

Projet clôturé

Date de signature de la CE 15 Decembre 2020

Date de début 1 Janvier 2021

Date de fin 30 Septembre 2024

Financé au titre de

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Coût total € 3 044 437,50

Contribution de l’UE € 3 044 437,50

Coordonné par

POLITECNICO DI MILANO
Italy

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Documents, reports (4)

Project Management and Quality Plan

This document presents the project coordination aspects and the project supporting procedures

Communication plan

describes the planned actions to outreach the nonscientific audience

Exploitation plan

This document sketches the exploitation strategy to maximize the impact including a strategy to clarify and track the freedomtooperate strategy for IP protection and a draft exploitation plan

Final exploitation plan

This document updates the exploitation strategy to maximize the impact.

Open Research Data Pilot (1)

Data Management Plan I

Description of the data available in the project and specifications on openness generation access and preservation

Publications

Conference proceedings (21)

Path Planning and Control of a Steerable Catheter for Mitral Valve Repair in an Augmented Reality framework

Auteurs:  Mattia Magro, Andrea Fortuna, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
Publié dans: Hamlyn Symposium on Medical Robotics, 2022
Éditeur: Imperial College London

Optimizing Heart Valve Surgery with Model-Free Catheter Control

Auteurs: Anna Bicchi; Francessca Fati; Mariagrazia Quacquarelli; Emiliano Votta; Elena De Momi
Publié dans: 2023
Éditeur: Imperial College London

Toward Steerable Needles Autonomous Motion for Mitral Valve Repair

Auteurs:  Mattia Magro, Andrea Fortuna, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
Publié dans: ICAR2022 Conferencce, 2022
Éditeur: IEEE

Towards an autonomous robotic platform for percutaneous procedures

Auteurs: Valentina Corbetta, Alice Segato, Andrea Fortuna, Tommaso Magni, Mattia Magro, Xiu Zhang and Elena De Momi
Publié dans: CRAS 2022, 2022
Éditeur: University of Naples Federico II

Automatic Vessel Recognition and Segmentation: a novel Deep Learning Architecture with Transfer Learning Approach

Auteurs: null null, Giovanni Faoro, Stefano Pane, Veronica Iacovacci, Sara Moccia, Arianna Menciassi, null null
Publié dans: Proceedings of The 14th Hamlyn Symposium on Medical Robotics 2022, 2022, Page(s) 41-42
Éditeur: The Hamlyn Centre, Imperial College London London, UK
DOI: 10.31256/hsmr2022.20

Contact Localization of Continuum and Flexible Robot Using Data-Driven Approach

Auteurs: Xuan Thao Ha; Di Wu; Chun-Feng Lai; Mouloud Ourak; Gianni Borghesan; Arianna Menciassi; Emmanuel Vander Poorten
Publié dans: IEEE Robotics and Automation Letters, Numéro Volume: 7, Numéro: 3, 2022, Page(s) 6910 - 6917
Éditeur: IEEE Xplore
DOI: 10.1109/lra.2022.3176723

A Preliminary Study Investigating the Influence of Puncture Velocity in Minimally Invasive Cardiovascular Surgery

Auteurs: Luca Carlini; Anna Bicchi; Junling Fu; Elena De Momi
Publié dans: 2024
Éditeur: IEEE Xplore

Design and implementation of a miniaturized cooling system for Trans-Esophageal Echocardiographic probes in minimally invasive cardiac surgery

Auteurs: Francesca Parrotta, Giovanni Faoro, Selene Tognarelli, Arianna Menciassi
Publié dans: 13th Conference on New Technologies for Computer and Robot Assisted Surgery, 2024
Éditeur: n.a.

Rate Dependent Prandtl-Ishlinskii (RDPI) Model based motion compensation of Mitraclip® Delivery System

Auteurs: Syed Zain Mehdi , Mouloud Ourak, and Emmanuel Vander Poorten
Publié dans: ACTUATOR 2024, 2024
Éditeur: IEEE Xplore

Robot-assisted Motion Compensation based on Optical Flow in Ultrasound Images

Auteurs: Giovanni Faoro, Nicolò Pasini, Andrea Mariani, Laura Morchi, Selene Tognarelli, Arianna Menciassi
Publié dans: 2023 IEEE International Ultrasonics Symposium (IUS), 2023
Éditeur: IEEE
DOI: 10.1109/ius51837.2023.10307405

Inverse Reinforcement Learning algorithm for intra-vascular and intra-cardiac catheter's navigation in Minimally Invasive Surgery

Auteurs: Andrea Fortuna; Mattia Magro; Angela Peloso; Alice Segato; Elena De Momi
Publié dans: Numéro 1, 2022
Éditeur: I-RIM
DOI: 10.5281/zenodo.7531409

Comparative Study on Electromagnetic Tracking and Fiber Bragg Grating-Based Catheter Shape Sensing

Auteurs: Xuan Thao Ha, Izadyar Tamadon, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi and Emmanuel Vander Poorten
Publié dans: IEEE SENSORS conference, 2022
Éditeur: IEEE SENSORS conference

Robotic Actuation and Control of A Catheter for Structural Intervention Cardiology

Auteurs: Xiu Zhang, Maria Chiara Palumbo, Francesca Perico, Mattia Magro, Andrea Fortuna, Tommaso Magni, Emiliano Votta, Alice Segato and Elena De Momi
Publié dans: IROS2022 Conference, 2022
Éditeur: IEEE

Actuation and Control of a Steerable Catheter for Mitral Valve Repair

Auteurs: Magro, Mattia; Fortuna, Andrea; Quacquarelli, Mariagrazia; Peloso, Angela; Zhang, Xiu; De Momi, Elena
Publié dans: Numéro 5, 2022
Éditeur: I-RIM
DOI: 10.5281/zenodo.7531411

A Multi-DOF Tendon-Actuated Steerable Sheath for Precise Positioning in Percutaneous Left Atrial Appendage Closure

Auteurs: Nadia D'Alessandro, Selene Tognarelli, Izadyar Tamadon, Emiliano Votta, Arianna Menciassi
Publié dans: Hamlyn Symposium on Medical Robotics, 2024
Éditeur: """The Hamlyn Centre Imperial College London E- Print"""

Design and Preliminary Characterisation of a New Soft Steerable Sheath for Cardiovascular Interventions

Auteurs: Sridhar, A., Ourak, M., Valdivielso, I., Vander Poorten, E
Publié dans: 20th International Conference on Advanced Robotics (ICAR), 2022, Page(s) 155-160
Éditeur: IEEE Xplore
DOI: 10.1109/icar53236.2021.9659442

"""Fiber Bragg Grating sensors for temperature estimation and their integration in robotic transesophageal echocardiography: a preliminar study"""

Auteurs: Ludovica Barozzi, Giovanni Faoro, Madhan Chirumamilla, Selene Tognarelli,Daniela D’Auria, and Arianna Menciassi
Publié dans: 12th Conference on New Technologies for Computer and Robot Assisted Surgery, 2023
Éditeur: n.a.

Path Planner Module for a steerable catheter for Structural Interventional Cardiology using Inverse Reinforcement Learning

Auteurs: Mattia Magro, Andrea Fortuna, Tomamso Magni, Xiu Zhang, Maria Chiara Palumbo, Emiliano Votta, Elena De Momi and Alice Segato
Publié dans: Hamlyn Symposium on Medical Robotics, 2022
Éditeur: Imperial College London

Fast path replanning in a dynamic environment in percutaneous cardiac interventions

Auteurs: Angela Peloso; Emiliano Votta; Elena De Momi
Publié dans: 2023
Éditeur: Italian National Bioengineering Group

Towards autonomous robotic procedure for ultrasound-guided percutaneous cardiac interventions for mitral valve repair

Auteurs: Angela Peloso; Riccardo Munafó; Veronica Ruozzi; Anna Bicchi; Xiu Zhang; Elena De Momi; Emiliano Votta
Publié dans: 2023
Éditeur: euRobotics AISBL

Comparative Study on Electromagnetic Tracking and Fiber Bragg Grating-based Catheter Shape Sensing

Auteurs: Xuan Thao Ha, Izadyar Tamadon, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Publié dans: 2022 IEEE Sensors, 2022
Éditeur: IEEE
DOI: 10.1109/sensors52175.2022.9967359

Peer reviewed articles (10)

An Artificial Intelligence-Aided Robotic Platform for Ultrasound-Guided Transcarotid Revascularization

Auteurs: Giovanni Faoro, Sabina Maglio, Stefano Pane, Veronica Iacovacci, Arianna Menciassi
Publié dans: IEEE Robotics and Automation Letters, Numéro 8, 2024, Page(s) 2349-2356, ISSN 2377-3766
Éditeur: IEEE Robotics and Automation Society
DOI: 10.1109/lra.2023.3251844

Sensor Fusion for Shape Reconstruction Using Electromagnetic Tracking Sensors and Multi-Core Optical Fiber

Auteurs: Xuan Thao Ha, Di Wu, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Publié dans: IEEE Robotics and Automation Letters, Numéro 8, 2023, Page(s) 4076-4083, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2023.3280456

Fusion Framework for Coaxial Catheter Tracking

Auteurs: Xuan Thao Ha, Di Wu, Fabian Trauzettel, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Publié dans: IEEE Sensors Journal, Numéro 23, 2023, Page(s) 22580-22591, ISSN 1530-437X
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2023.3309589

A Deep Learning-Based Fully Automated Pipeline for Regurgitant Mitral Valve Anatomy Analysis From 3D Echocardiography

Auteurs: Riccardo Munafò, Simone Saitta, Giacomo Ingallina, Paolo Denti, Francesco Maisano, Eustachio Agricola, Alberto Redaelli, Emiliano Votta
Publié dans: IEEE Access, Numéro 12, 2024, Page(s) 5295-5308, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2024.3349698

Comparative Analysis of Interactive Modalities for Intuitive Endovascular Interventions

Auteurs: Di Wu, Zhen Li, Mohammad Hasan Dad Ansari, Xuan Thao Ha, Mouloud Ourak, Jenny Dankelman, Arianna Menciassi, Elena De Momi, Emmanuel Vander Poorten
Publié dans: IEEE Transactions on Visualization and Computer Graphics, 2024, Page(s) 1-18, ISSN 1077-2626
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tvcg.2024.3362628

A Multi-Sensorization Approach to Improve Safety in Transesophageal Echocardiography

Auteurs: Giovanni Faoro, Izadyar Tamadon, Selene Tognarelli, Arianna Menciassi
Publié dans: IEEE Transactions on Medical Robotics and Bionics, Numéro 6, 2024, Page(s) 829-838, ISSN 2576-3202
Éditeur: IEEE Xplore
DOI: 10.1109/tmrb.2024.3407378

Multi-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A Preliminary Comparison of Visual, Haptic, and Visuo-Haptic

Auteurs: Guido Caccianiga; Andrea Mariani; Chiara Galli de Paratesi; Arianna Menciassi; Elena De Momi
Publié dans: IEEE Robotics and Automation Letters, Numéro vol. 6, no. 2, 2021, Page(s) 3801-3808, ISSN 2377-3766
Éditeur: IEEE Robotics and Automation Society
DOI: 10.1109/lra.2021.3063967

Design and Hysteresis Compensation of a Telerobotic System for Transesophageal Echocardiography

Auteurs: Xiu Zhang, Izadyar Tamadon, Benjamín Fortuño, Vanessa Cannizzaro, Angela Peloso, Anna Bicchi, Andrea Aliverti, Emiliano Votta, Arianna Menciassi, Elena De Momi
Publié dans: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2024.3502057

Path tracking control of a steerable catheter in transcatheter cardiology interventions

Auteurs: Xiu Zhang, Aditya Sridhar, Xuan Thao Ha, Syed Zain Mehdi, Andrea Fortuna, Mattia Magro, Angela Peloso, Anna Bicchi, Mouloud Ourak, Andrea Aliverti, Emiliano Votta, Emmanuel Vander Poorten, Elena De Momi
Publié dans: International Journal of Computer Assisted Radiology and Surgery, Numéro 19, 2024, Page(s) 757-766, ISSN 1861-6429
Éditeur: Springer Nature
DOI: 10.1007/s11548-024-03069-3

Multicontact Localization Framework for Flexible Robots Using a Data-Driven Approach

Auteurs: Xuan Thao Ha, Aditya Sridhar, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
Publié dans: IEEE Sensors Journal, Numéro 23, 2024, Page(s) 28993-29002, ISSN 1530-437X
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2023.3326614