ADAGIO Project
Continuum Robots for Endoscopic Gallbladder Drainage
National project on tendon-actuated continuum robots for the endoscopic drainage of the gallbladder in acute cholecystitis.
Project Overview
ADAGIO — tendon-Actuated continuum robots for enDoscopic drAinage of the Gallbladder In acute chOlecystitis — is a national project started in January 2026, in which I take part as a team member.
Acute cholecystitis can be treated by draining the gallbladder endoscopically, which requires placing a stent accurately through a flexible endoscope. My work in the project focuses on a stabilization method for stent placement, based on the precise control of tendon-actuated continuum robots.
Continuum Robots
Tendon-actuated flexible robots compatible with endoscopic access.
Stabilized Stent Placement
Control strategies that keep the tool tip stable during stent deployment.
Model-based Control
Mechanical models of the continuum robot for precise, real-time control.
Related Projects
- IRE Project — intelligent soft robotic endoscopes
- COSSEROOTS — Cosserat models for slender soft robots
Contact me for more information about this project.