The goal of ENHANCE is to develop a safe parallel robotic system for the treatment of liver cancer with the help of two automatic instruments and with the help of a modular master-slave control, up to the technological maturity level TRL 4. The starting point of the project is the parallel robotic system ProHep -LCT currently at TRL 3. Mechanical improvements will be made to provide the optimal, singularity-free operational workspace of the robotic system (and to provide consistent positioning accuracy). Furthermore, a new master-slave control system will be developed based on a modular architecture (to ensure continuous delivery) that uses functionality from the current control system (at TRL 3) and other additional advanced functions. Development at TRL 4 for the improved ProHep-LCT parallel robotic system could create opportunities to develop new therapeutic approaches in cancer management.



The main objectives of the project:

(O1) Critical analysis of the ProHep-LCT parallel robotic system based on the definition of the performance parameters required to achieve the technological maturity level TRL4.

(O2) Optimizing the ProHep-LCT parallel robotic system to achieve the optimal operational workspace with collision avoidance and superior precision, correlated with the medical task.

(O3)Development of a Master-Slave modular control system with improved functionality compared to existing ones to ensure patient safety and ergonomics.

(O4) Experimental testing and validation of the ProHep-LCT parallel robotic system



To achieve the goal of the project, the following steps will be taken:

(Stage 1-2022): Critical analysis of the medical robot with reference to the medical task and establishment of intervention areas to achieve TRL4

Results stage 1:

Medical protocol for the ProHep-LCT robot

Report on mechanical optimization parameters for the ProHep-LCT robot to achieve TRL4

Control and GUI Optimization Parameters Report for the ProHep-LCT Robotic System

(Stage 2-2023)  Optimization of the ProHep-LCT robotic system

Results stage 2:

Report on singularity-free workspace modeling with collision avoidance of the ProHep-LCT robotic system

Optimized CAD build version of the mechanical structure

Optimized experimental model

3 enhanced control modules based on modular control architecture

Modular GUI

A modular master-slave control system

(Stage 3- 2024): Validation of the ProHep-LCT system at TRL4 through laboratory tests

Results stage 3:

3 test and validation reports for the control modules

Test and validation report for modular master-slave control system

Test and Validation Report for the ProHep-LCT Robotic System