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The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.
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The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.
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Mr Ayhan Aktas
Casual - Student demonstrator - lower rate
Dr Daniel Bautista Salinas
Research Associate
Dr Kaiwen Chen
Research Associate
Mr Zejian Cui
Research Postgraduate
Mr Connor Daly
Research Postgraduate
Emeritus Professor Brian L Davies FREng
Emeritus Professor
Mr Zhaoyang Jacopo Hu
Research Postgraduate
Dr Hisham M Iqbal
Research Associate
Mr Alex Ranne
Research Postgraduate
Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics
Dr Jialei Shi
Research Associate
Mr Spyridon Souipas
Casual - Other work
Ms Emilia Zari
Research Postgraduate
@article{Garriga:2018:10.1089/soro.2017.0105,
author = {Garriga, Casanovas A and Collison, I and Rodriguez, y Baena F},
doi = {10.1089/soro.2017.0105},
journal = {Soft Robotics},
pages = {622--649},
title = {Towards a common framework for the design of soft robotic manipulators with fluidic actuation},
url = {http://dx.doi.org/10.1089/soro.2017.0105},
volume = {5},
year = {2018}
}
TY - JOUR
AB - Soft robotic manipulators with fluidic actuation are devices with easily deformable structures that comprise a set of chambers that can be pressurized to achieve structural deflection. These devices have experienced a rapid development in recent years, which is not least due to the advantages they offer in terms of robustness, affordability, and compliance. Nowadays, however, soft robotic manipulators are designed mostly by intuition, which complicates design improvement and hampers the advancement of the field. In this paper, a general study of the the design of soft robotic manipulators with fluidic actuation is presented, using an analytical derivation. The study relies on a novel approach that is applicable to a general design, and thus provides a common framework for the design of soft robots. In the study, two design layouts of interest are first justified, which correspond to extending and contracting devices. Design principles for each of the layouts are subsequently derived, both for planar and 3D scenarios, and considering operation to support any external loading and to provide any desired deflection. These principles are found to agree with the main design trends in literature, although they also highlight the potential for improvement in specific aspects of the design geometry and stiffness distribution. The principles are used to identify the most suitable design for both extending and contracting devices in 2D and 3D, and extract insight into their behavior.. To showcase the use of these design principles, a prototypical scenario in minimally invasive surgery requiring a manipulator segment capable of bending in any direction is defined, where the objective is to maximize its lateral force. The principles are applied to determine the most suitable design. These also highlight the need for numerical analysis to optimize two design parameters. Finite element simulations are developed, and their results are reported.
AU - Garriga,Casanovas A
AU - Collison,I
AU - Rodriguez,y Baena F
DO - 10.1089/soro.2017.0105
EP - 649
PY - 2018///
SN - 2169-5172
SP - 622
TI - Towards a common framework for the design of soft robotic manipulators with fluidic actuation
T2 - Soft Robotics
UR - http://dx.doi.org/10.1089/soro.2017.0105
UR - http://hdl.handle.net/10044/1/60879
VL - 5
ER -
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