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Project

Design of robotic catheter and endoscopic systems for cancer treatment

Recent efforts in robotics and automation research have fostered the development of a wide variety of miniature continuum robots which can access confined spaces and, thanks to their compliance, follow complex trajectories exchanging limited forces with the surroundings. These properties explain the appeal of these robots in surgical applications and minimally invasive surgery in particular, where critical tasks are to be executed within the delicate and complex environment of the human body. In cancer treatment, there is a huge potential for smart robotic catheters. Equipped with force and shape sensing capability, advanced force control and smart catheter steering are feasible. Building upon earlier expertise in miniaturization, sensing, and control, driving miniature dedicated catheters in difficult-to-reach anatomic areas becomes feasible. The areas that are targeted in this project are even harder to reach urging further improvements in terms of miniaturization. Within this project, the Ph.D. candidate will closely collaborate with colleagues from micro-and precision manufacturing who acquired needed equipment to further scale down steerable systems. By looking at new mechanisms for actuation, sensing, and control, this Ph.D. will design and develop novel robotic endoscopic ultrasound and catheter systems. Building on earlier work, advanced sensing, and estimation techniques will be elaborated to obtain an improved understanding of and control over the robot’s pose and contact state within its surroundings. The conducted research fits in a multidisciplinary project led by RAS, but involving also drug manufacturers (researchers) and clinicians. Close collaboration with both parties is envisioned and essential for success.

Date:16 Feb 2022 →  Today
Keywords:Catheter, ERCP, EUS, Minimally Invasive Surgery, Biliary Pancreatic Cancer BPC, Human Machine Interaction, Robotics, Control
Disciplines:Robot manipulation and interfaces, Human-computer interaction
Project type:PhD project