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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{Franco:2021:10.1016/j.mechmachtheory.2020.104060,
author = {Franco, E and Brown, T and Astolfi, A and Rodriguez, y Baena F},
doi = {10.1016/j.mechmachtheory.2020.104060},
journal = {Mechanism and Machine Theory},
title = {Adaptive energy shaping control of robotic needle insertion},
url = {http://dx.doi.org/10.1016/j.mechmachtheory.2020.104060},
volume = {155},
year = {2021}
}
TY - JOUR
AB - This work studies the control of a pneumatic actuator for needle insertion in soft tissue without using axial rotation or additional needle supports. Employing a simplified rigid-link model description of an axial-symmetric tip needle supported at the base, two energy shaping controllers are proposed. The friction forces of the pneumatic actuator are compensated adaptively and the stability conditions for the closed-loop equilibrium are discussed. The controllers are compared by means of simulations and experiments on two different silicone rubber phantoms. The results indicate that the proposed controllers effectively compensate the actuator's friction, which is comparable to the insertion forces for the chosen pneumatic actuators. The first controller only depends on the actuator's position thus it achieves the prescribed insertion depth but results in a larger tip rotation and corresponding deflection. The second controller also accounts for the rotation of the needle tip on the bending plane, which can consequently be reduced by over 70% for this specific system. This is achieved by modulating the actuator force and, in case of harder phantoms, by automatically limiting the insertion depth.
AU - Franco,E
AU - Brown,T
AU - Astolfi,A
AU - Rodriguez,y Baena F
DO - 10.1016/j.mechmachtheory.2020.104060
PY - 2021///
SN - 0094-114X
TI - Adaptive energy shaping control of robotic needle insertion
T2 - Mechanism and Machine Theory
UR - http://dx.doi.org/10.1016/j.mechmachtheory.2020.104060
UR - http://hdl.handle.net/10044/1/82252
VL - 155
ER -
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