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
@inproceedings{Alian:2023:10.1109/RoboSoft55895.2023.10121967,
author = {Alian, A and Mylonas, G and Avery, J},
doi = {10.1109/RoboSoft55895.2023.10121967},
title = {Soft Continuum Actuator Tip Position and Contact Force Prediction, Using Electrical Impedance Tomography and Recurrent Neural Networks},
url = {http://dx.doi.org/10.1109/RoboSoft55895.2023.10121967},
year = {2023}
}
TY - CPAPER
AB - Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely used in numerous surgical applications. One of the complications associated with using soft robots in surgical applications is reconstructing their shape and the external force exerted on them. Several sensor-based and model-based approaches have been proposed to address the issue. In this paper, a shape sensing technique based on Electrical Impedance Tomography (EIT) is proposed. The performance of this sensing technique in predicting the tip position and contact force of a soft bending actuator is highlighted by conducting a series of empirical tests. The predictions were performed based on a data-driven approach using a Long Short-Term Memory (LSTM) recurrent neural network. The tip position predictions indicate the importance of using EIT data along with pressure inputs. Changing the number of EIT channels, we evaluated the effect of the number of EIT inputs on the accuracy of the predictions. The least RMSE values for the tip position are 3.6 and 4.6 mm in Y and Z coordinates, respectively, which are 7.36% and 6.07% of the actuator's total range of motion. Contact force predictions were conducted in three different bending angles and by varying the number of EIT channels. The results of the predictions illustrated that increasing the number of channels contributes to higher accuracy of the force estimation. The mean errors of using 8 channels are 7.69%, 2.13%, and 2.96% of the total force range in three different bending angles.
AU - Alian,A
AU - Mylonas,G
AU - Avery,J
DO - 10.1109/RoboSoft55895.2023.10121967
PY - 2023///
TI - Soft Continuum Actuator Tip Position and Contact Force Prediction, Using Electrical Impedance Tomography and Recurrent Neural Networks
UR - http://dx.doi.org/10.1109/RoboSoft55895.2023.10121967
ER -
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