In this section
We use perceptual methods, AI, and frugal robotics innovation to deliver transformative diagnostic and treatment solutions.
The HARMS lab leverages perceptually enabled methodologies, artificial intelligence, and frugal innovation in robotics (such as soft surgical robots) to deliver transformative solutions for diagnosis and treatment. Our research is driven by both problem-solving and curiosity, aiming to build a comprehensive understanding of the actions, interactions, and reactions occurring in the operating room. We focus on using robotic technologies to facilitate procedures that are not yet widely adopted, particularly in endoluminal surgery, such as advanced treatments for gastrointestinal cancer.
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Dr George Mylonas BEng, MSc, DIC, PhD
Senior Lecturer in Robotics and Technology in Cancer
Dr Adrian Rubio Solis
Research Associate in Sensing and Machine Learning
@article{Runciman:2020:10.3389/frobt.2019.00141,
author = {Runciman, M and Avery, J and Zhao, M and Darzi, A and Mylonas, GP},
doi = {10.3389/frobt.2019.00141},
journal = {Frontiers in Robotics and AI},
pages = {1--16},
title = {Deployable, variable stiffness, cable driven robot for minimally invasive surgery},
url = {http://dx.doi.org/10.3389/frobt.2019.00141},
volume = {6},
year = {2020}
}
TY - JOUR
AB - Minimally Invasive Surgery (MIS) imposes a trade-off between non-invasive access and surgical capability. Treatment of early gastric cancers over 20 mm in diameter can be achieved by performing Endoscopic Submucosal Dissection (ESD) with a flexible endoscope; however, this procedure is technically challenging, suffers from extended operation times and requires extensive training. To facilitate the ESD procedure, we have created a deployable cable driven robot that increases the surgical capabilities of the flexible endoscope while attempting to minimize the impact on the access that they offer. Using a low-profile inflatable support structure in the shape of a hollow hexagonal prism, our robot can fold around the flexible endoscope and, when the target site has been reached, achieve a 73.16% increase in volume and increase its radial stiffness. A sheath around the variable stiffness structure delivers a series of force transmission cables that connect to two independent tubular end-effectors through which standard flexible endoscopic instruments can pass and be anchored. Using a simple control scheme based on the length of each cable, the pose of the two instruments can be controlled by haptic controllers in each hand of the user. The forces exerted by a single instrument were measured, and a maximum magnitude of 8.29 N observed along a single axis. The working channels and tip control of the flexible endoscope remain in use in conjunction with our robot and were used during a procedure imitating the demands of ESD was successfully carried out by a novice user. Not only does this robot facilitate difficult surgical techniques, but it can be easily customized and rapidly produced at low cost due to a programmatic design approach.
AU - Runciman,M
AU - Avery,J
AU - Zhao,M
AU - Darzi,A
AU - Mylonas,GP
DO - 10.3389/frobt.2019.00141
EP - 16
PY - 2020///
SN - 2296-9144
SP - 1
TI - Deployable, variable stiffness, cable driven robot for minimally invasive surgery
T2 - Frontiers in Robotics and AI
UR - http://dx.doi.org/10.3389/frobt.2019.00141
UR - https://www.frontiersin.org/articles/10.3389/frobt.2019.00141/full
UR - http://hdl.handle.net/10044/1/76261
VL - 6
ER -
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