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.

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.