The FUTURA system is a robotic-assisted platform designed for Ultrasound-guided High Intensity Focused Ultrasound (HIFU) treatment. The control of two independent anthropomorphic manipulators provides the FUTURA platform with high flexibility in terms of operating workspace and maneuverability.The platform is composed of: i) a robotic module, ii) a therapeutic module, and iii) a monitoring module. The robotic module is composed by two anthropomorphic industrial manipulators (i.e., ABB IRB 120) equipped with two force/torque sensors (ATI mini 45). The monitoring module is composed by two different US probes: i) a 2D imaging US probe (Analogic Ultrasound PA7-4/12) confocal to the HIFU transducer, and ii) a motorized 3D imaging US probe (Analogic Ultrasound 4DC7-3/40) mounted on the second manipulator, both connected to the Analogic Ultrasound SonixTablet machine. The therapeutic module consists of a custom-made Focused Ultrasound System. This system has three main components: i) a multi-channel high power signal generator (Image Guided Therapy), ii) a 16 channels phased annular array transducer (Imasonic), and iii) a coupling system (small pillow filled with water) which provides a good acoustic path between the transducer and the patient. The remote control on the FUS generator allows to adjusts the shooting parameters (e.g. focal depth) with a frequency of 20 Hz. The different modules of the FUTURA platform are mutually controlled through dedicated software developed in Robot Operating System (ROS) framework. The FUS treatment is managed by the users through a dedicated Human Machine Interface with real-time visualization of the working scenario. The high modularity of the platform allows for the testing of different modalities: specific experiments dedicated to image guidance, force controlled contact with human tissues, obstacle avoidance strategies between manipulators and patients/operators can be also set-up in the framework of the overall structure.
Dear TERRINet applicants and future users,
we sincerely hope that you are staying safe in these challenging times that we are facing at the moment. The current emergency due to the COVID-19 pandemic has deeply changed our lives. The recent and progressive lock-down forced us to reorganize our working routines in smart working modalities and to shut down the TERRINet infrastructures. Therefore, we regret to inform you that Trans-National Access has been suspended until further notice.
However, we would like to reassure you that we will keep evaluating the proposals submitted for Trans-National Access regularly. Indeed, despite access cannot be allowed for a while, the selected users will be queued and access will take over gradually as soon as the situation will allow it. We also inform you that a special application mechanism has been settled in TERRINet to mitigate the delays that will occur due to the COVID-19.
The Open Call no. 4 is currently open: we are accepting proposals under the new mechanism called "first come, first served". Proposals are directly forwarded to the evaluation panel as soon as they are submitted. Proposals submitted closer to the deadline will be dispatched after that. The deadline for the Open Call n.4 will be on May 31, 2020.
Do not hesitate! Get this unique opportunity to be granted with fully-covered access (including travel and accommodation costs) to 15 leading European robotics labs and 100+ best robotic platforms and to get in touch with leading robotic experts.
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