Deliverables are additional outputs (e.g. information, special report, a technical diagram brochure, list, a software milestone or other building block of the project) that must be produced at a given moment during the action.

D1.1 Requirements for surgical actions

The aim of this document is to collect all the clinical and safety requirements of the SARAS surgical benchmark procedures.
SARAS Deliverable 1.1 is structured as follows:

  •  The first part (Chapter 2) is divided into three main sections each one focusing on a specific surgical procedure (i.e. RARP, LRN and LPN), comprehensive of the anatomical site description, clinical details on the pathology and procedural workflow in the current practice carried out at the San Raffaele Hospital (pre-operative preparation, position of patient, surgical instruments chosen, procedure and post-operative course). Particular attention has been paid to the interaction and coordination between the first surgeon – operating at the da Vinci console (only for RARP) – and the assistant;
  •  Chapter 3 provides a description of the Risk Analysis performed for each procedure. Being the corresponding task 1.2 due for the second part of the first project year (M7-M12), this study is not included in the current version of D1.1 and will be integrated at M12;
  •  Chapter 4 describes the SARAS simplified models of the RARP and LR/PN procedures, suitable to be translated in mathematical terms for the implementation of project solutions;
  •  Chapter 5 separates the clinical requirements into two categories: phantoms-related requirements and procedures-related ones;
  •  The attached documents (Annexes to Deliverable D1.1) include the appendices which provide further information concerning the researches carried out, but that have not been included in the main part of the text in order to ease the reading of the document.

D1.2 Experimental tests and validation activities on the MULTIROBOTS-SURGERY platform

The aim of this document is to describe the test plan structured for the SARAS MULTIROBOTS-SURGERY platform. The activities outlined are meant to be functional tests, and not technical ones, addressing therefore the system as a whole, its ability in carrying out the expected surgical tasks for the RARP simplified procedure and its level of usability from the surgeon’s point of view. In particular the test plan has been framed in order to:
– Assess the effectiveness of the SARAS MULTIROBOTS platform in performing the expected surgical tasks for the benchmark procedures;
– Investigate the perceived satisfaction in using/operating the SARAS MULTIROBOTS platform from the testers’ perspective (i.e. MIS experienced urological surgeons);
– Evaluate the coordination and cooperation of the main surgeon at the da Vinci® IS1200 console and the assistant surgeon tele-operating the SARAS robotic arms;
– Evaluate the impact of force feedback and virtual fixtures on the surgical tasks’ performance.

D2.1 Patient specific based phantom models

The document describes the different generations of the prostate phantom, discusses the achieved result in comparison with the requirements outlined in deliverable D7.1, and gives a short outlook over next iteration steps.

D3.1 Multi-modal human-robot interfaces and architecture for the MULTIROBOTS-SURGERY platform

This deliverable is intended to describe the Human-Robot interface and teleoperation architecture for the assistant surgeon and the multi-master/multi-slave bilateral teleoperation architecture being implemented in the SARAS project.

D4.1 Tasks mapping

In this deliverable, the actions performed by the assistant surgeon during the MULTIROBOTS-SURGERY will be mathematically described and parameterized in order to be executed and adapted at run time by the SARAS assistive robotic arms.

D7.2 SoftwareHardware architecture for the MULTIROBOTS-SURGERY platform

The aim of this document is to provide a detailed description of the SARAS architecture for the MULTIROBOTS-SURGERY platform with particular attention to the integration of multi-master multi-slave (MMMS) bilateral teleoperation architecture described in D3.1 – Multi-modal humanrobot interfaces and architecture for the MULTIROBOTS-SURGERY platform into the robotic system developed in the project.

D8.1 Plan for Communication actions

This document is primarily addressed to the project partners, and it is instrumental in Task 8.1 “Plan for Communication actions” and 8.2 “Plan for Exploitation and dissemination”. Its structure is the following:

  • SARAS identity definition and templates creation
  • Market and Stakeholder analysis and definition
  • Communication & Dissemination strategy
  • Action plan

D8.2 Plan for Exploitation and Dissemination (Y1)

The Plan for the Exploitation and Dissemination of Results is a document which summarizes the beneficiaries’ strategy and concrete actions related to the protection, dissemination and exploitation of the project results.

D5.1 3D modelling of anatomy and 3D registration

This deliverable will report on the set of tools for 3D modelling of the human anatomy and 3D registration from intra-operative (i.e. endoscopic images) and pre-operative data (e.g. MRI scans). The 3D reconstruction of the anatomy will be carried out by exploiting the most advanced 3D vision
techniques, including stereo and multi-view geometry, Simultaneous Location and Mapping (SLAM) and non-rigid structure-from-motion.
In this document we will present all the work that has been performed during the SARAS project to allow the system to automatically generate a 3D map of the anatomical environment. With respect to standard 3D reconstruction applications, our scenario presents specific challenges that make the problem extreme. First of all the structures (i.e. organs) we are interested in reconstruct are highly deformable, with no reliable dynamical models available in advance. Furthermore, the anatomical structures are connected to each other by means of fat, vessels and connective tissues with high variability in mechanical properties, which makes the behaviour of these connections unpredictable. Lastly, the variability of shape, dimensions and appearance of these structures is extremely high, so
to make impossible to use a prototype model to be used for the majority of the subjects as prior knowledge. In the rest of this document we will provide details and discussions about all the main phases involved
in this task, including system calibration, multiple view geometrical reconstruction and integration with the robot kinematics.

D6.1 Real-time surgeon action detection and recognition

This document aims at describing the progress made by the SARAS project under Task 6.1 (Online surgeon action recognition), part of WorkPackage 6, which concerns the detection and recognition in real time of what actions the main surgeon performs using standard laparoscopic tools, either manually or in tele-operation via a da Vinci master robot available at University of Verona. The input to this component of SARAS is the video streaming in from the available laparoscopic camera. Its output is, for each video frame, a number of bounding boxes showing where the various actions of interest are taking place, with attached scores (produced by a neural network) for each action class.