Mechatronics in Medicine

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• Journal article
  Rodriguez Y Baena F, Hawke T, Jakopec M, 2013,

  A bounded iterative closest point method for minimally invasive registration of the femur.

  , Proc Inst Mech Eng H, Vol: 227, Pages: 1135-1144

  This article describes a novel method for image-based, minimally invasive registration of the femur, for application to computer-assisted unicompartmental knee arthroplasty. The method is adapted from the well-known iterative closest point algorithm. By utilising an estimate of the hip centre on both the preoperative model and intraoperative patient anatomy, the proposed 'bounded' iterative closest point algorithm robustly produces accurate varus-valgus and anterior-posterior femoral alignment with minimal distal access requirements. Similar to the original iterative closest point implementation, the bounded iterative closest point algorithm converges monotonically to the closest minimum, and the presented case includes a common method for global minimum identification. The bounded iterative closest point method has shown to have exceptional resistance to noise during feature acquisition through simulations and in vitro plastic bone trials, where its performance is compared to a standard form of the iterative closest point algorithm.

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• Conference paper
  Oldfield MJ, Dini D, Jaiswal T, Rodriguez y Baena Fet al., 2013,

  The significance of rate dependency in blade insertions into a gelatin soft tissue phantom

  , 1st International Conference on Biotribology (ICoBT), Publisher: ELSEVIER SCI LTD, Pages: 226-234, ISSN: 0301-679X
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  • Citations: 20
• Conference paper
  Secoli R, Rodriguez Y Baena F, 2013,

  Closed-loop 3D Motion Modeling and Control of a Steerable Needle for Soft Tissue Surgery

  , 2013 IEEE International Conference on Robotics and Automation (ICRA 2013)
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• Journal article
  Petersen JG, Rodriguez Baena F, 2013,

  A dynamic active constraints approach for hands-on robotic surgery

  , Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, Pages: 1966-1971, ISSN: 2153-0858
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• Conference paper
  Burrows C, Secoli R, Rodriguez y Baena F, 2013,

  Experimental Characterisation of a Biologically Inspired 3D Steering Needle

  , 13th International Conference on Control, Automation and Systems (ICCAS), Publisher: IEEE, Pages: 1252-1257
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  • Citations: 25
• Journal article
  Liu F, Burrows C, Rodriguez y Baena F, 2013,

  Deformation-as-Control for A Biologically Inspired Steerable Needle

  , 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), Pages: 848-853
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  • Citations: 2
• Conference paper
  Bowyer SA, Rodriguez y Baena F, 2013,

  Dynamic Frictional Constraints for Robot Assisted Surgery

  , IEEE World Haptics Conference (WHC), Publisher: IEEE, Pages: 319-324
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  • Citations: 11
• Journal article
  Oldfield M, Dini D, Rodriguez y Baena F, 2012,

  Predicting failure in soft tissue phantoms via modeling of non-predetermined tear progression.

  , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 6305-6308, ISSN: 1557-170X

  The advantageous, curved trajectory of bevel-tipped devices in soft tissue is a function of the interplay between material deformation, contact interactions and material failure. Highly detailed modeling of tool-tissue interactions is therefore vital in optimising performance and design. At high resolution, discontinuous failure of soft tissue phantoms has not been demonstrated. An iterative procedure, making incremental additions to the failure path in an otherwise continuous finite element mesh, is presented to achieve this goal. The procedure's efficacy was demonstrated in two materials including a soft tissue phantom. Failure path is shown to respond well to different and evolving shear and normal stress states. The iterative procedure would thus be ideal for analysing and optimising complex tool-tissue interactions, for instance in needle steering systems, where the path taken by the needle also depends on the progression of a tear which develops ahead of the tip during the insertion process. With the method presented here, this behaviour could be modeled and analysed at an unprecedented resolution.

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  • Citations: 1
• Journal article
  Kerl J, Parittotokkaporn T, Frasson L, Oldfield M, Rodriguez y Baena F, Beyrau Fet al., 2012,

  Tissue deformation analysis using a laser based digital image correlation technique

  , Vol: 6, Pages: 159-165, ISSN: 1751-6161

  A laser based technique for planar time-resolved measurements of tissue deformation in transparent biomedical materials with high spatial resolution is developed. The approach is based on monitoring the displacement of micrometer particles previously embedded into a semi-transparent sample as it is deformed by some form of external loading. The particles are illuminated in a plane inside the tissue material by a thin laser light sheet, and the pattern is continuously recorded by a digital camera. Image analysis yields the locally and temporally resolved sample deformation in the measurement plane without the need for any in situ measurement hardware. The applicability of the method for determination of tissue deformation and material strain during the insertion of a needle probe into a soft material sample is demonstrated by means of an in vitro trial on gelatin. (C) 2011 Elsevier Ltd. All rights reserved.

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• Journal article
  Ko SY, Rodriguez y Baena F, 2012,

  Trajectory following for a flexible probe with state/input constraints: An approach based on model predictive control

  , Robotics and Autonomous Systems, Vol: 60, Pages: 509-521, ISSN: 0921-8890
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