ESR & Workpackages

The ATLAS is composed by 15 individual projects

ESR 1: Development of ultra-thin multi-steerable catheter technology suited for soft-robotic navigation through complex vascular structures
ESR 2: Magnetic driving and actuation
ESR 3: Distributed proprioception for safe autonomous catheters
ESR 4: Intraluminal sensing for autonomous navigation in remote district
ESR 5: From local sensing to global lumen reconstruction
ESR 6: Computer vision and machine learning for tissue segmentation and localization
ESR 7: Simultaneous tissue identification and mapping for autonomous guidance
ESR 8: Image-based tool tissue interaction estimation
ESR 9: Surgical episode segmentation from multi-modal data
ESR 10: Automatic handsfree visualization of a 6 DoF agent within a complex anatomical space
ESR 11: Control of multi-DOF catheters in an unknown environment
ESR 12: Distributed follow-the leader control for minimizing tissue forces during soft-robotic endoscopic locomotion through fragile tubular environments
ESR 13: Path planning and real-time re-planning
ESR 14: Automatic endoscope repositioning with respect to the surgical task
ESR 15: Optimal learning method for autonomous control and navigation

Projects are interconnected, in such a way the collaboration between researched is made possible.

Each project contributes to one or more work packages, where the effort toward a specific research objective is contextualized.

The thematic work packages are:

  • WP1 Actuation technology
  • WP2 Intra-operative sensing
  • WP3 4D modeling and reconstruction
  • WP4 Control

In addition, there are some horizontal WP that supports the work of all the projects, such as clinical specification, Hardware and software integration, etc. that allows to identify clinically relevant challenges (in collaboration with clinical partners), and support development and test in realistic environments.

The targeted clinical settings are:

  • colonoscopy
  • ureteroscopy, and
  • endovascular catheterization.