In this section
The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.
Twitter/X: @MIMLab_Robotics
Youtube: Mechatronics in Medicine Lab
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.
...
......
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{Terzano:2020:10.1007/s10237-020-01310-x,
author = {Terzano, M and Dini, D and Rodriguez, y Baena F and Spagnoli, A and Oldfield, M},
doi = {10.1007/s10237-020-01310-x},
journal = {Biomechanics and Modeling in Mechanobiology},
pages = {1809--1825},
title = {An adaptive finite element model for steerable needles},
url = {http://dx.doi.org/10.1007/s10237-020-01310-x},
volume = {19},
year = {2020}
}
TY - JOUR
AB - Penetration of a flexible and steerable needle into a soft target material is a complex problem to be modelled, involving several mechanical challenges. In the present paper, an adaptive finite element algorithm is developed to simulate the penetration of a steerable needle in brain-like gelatine material, where the penetration path is not predetermined. The geometry of the needle tip induces asymmetric tractions along the tool–substrate frictional interfaces, generating a bending action on the needle in addition to combined normal and shear loading in the region where fracture takes place during penetration. The fracture process is described by a cohesive zone model, and the direction of crack propagation is determined by the distribution of strain energy density in the tissue surrounding the tip. Simulation results of deep needle penetration for a programmable bevel-tip needle design, where steering can be controlled by changing the offset between interlocked needle segments, are mainly discussed in terms of penetration force versus displacement along with a detailed description of the needle tip trajectories. It is shown that such results are strongly dependent on the relative stiffness of needle and tissue and on the tip offset. The simulated relationship between programmable bevel offset and needle curvature is found to be approximately linear, confirming empirical results derived experimentally in a previous work. The proposed model enables a detailed analysis of the tool–tissue interactions during needle penetration, providing a reliable means to optimise the design of surgical catheters and aid pre-operative planning.
AU - Terzano,M
AU - Dini,D
AU - Rodriguez,y Baena F
AU - Spagnoli,A
AU - Oldfield,M
DO - 10.1007/s10237-020-01310-x
EP - 1825
PY - 2020///
SN - 1617-7940
SP - 1809
TI - An adaptive finite element model for steerable needles
T2 - Biomechanics and Modeling in Mechanobiology
UR - http://dx.doi.org/10.1007/s10237-020-01310-x
UR - http://hdl.handle.net/10044/1/77962
VL - 19
ER -
General enquiries
hamlyn@imperial.ac.uk
Facility enquiries
hamlyn.facility@imperial.ac.uk
The Hamlyn Centre
Bessemer Building
South Kensington Campus
Imperial College
London, SW7 2AZ
Map location
