Mechatronics in Medicine

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• Journal article
  Ko SY, Frasson L, Rodriguez y Baena F, 2011,

  Closed-Loop Planar Motion Control of a Steerable Probe With a "Programmable Bevel" Inspired by Nature

  , Ieee T Robot, Vol: 27, Pages: 970-983, ISSN: 1552-3098

  Percutaneous intervention has attracted significant interest in recent years, but many of today's needles and catheters can only provide limited control of the trajectory between an entry site and soft tissue target. In order to address this fundamental shortcoming in minimally invasive surgery, we describe the first prototype of a bioinspired multipart probe that can steer along planar trajectories within a compliant medium by means of a novel "programmable bevel," where the steering angle becomes a function of the offset between interlocked probe segments. A kinematic model of the flexible probe and programmable bevel arrangement is derived. Several parameters of the kinematic model are then calibrated experimentally with a fully functional scaled-up prototype, which is 12mm in diameter. A closed-loop control strategy with feed-forward and feedback components is then derived and implemented in vitro using an approximate linearization strategy that was first developed for car-like robots. Experimental results demonstrate satisfactory 2-D trajectory following of the prototype (0.68 mm tracking error, with 1.45 mm standard deviation) using an electromagnetic position sensor that is embedded at the tip of the probe.

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• Journal article
  Parittotokkaporn T, Frasson L, Schneider A, Davies BL, Degenaar P, Rodriguez Y Baena Fet al., 2010,

  Insertion experiments of a biologically inspired microtextured and multi-part probe based on reciprocal motion.

  , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3190-3193, ISSN: 1557-170X

  While there have been significant advances in minimally invasive surgical instrumentation, the majority of tools still rely on a push from the back to aid insertion into the tissue, whether the process is manual or servo assisted. In this work, a novel approach to tool insertion is proposed which is based on the concept of a multi-part probe with at least three interlocking segments. By means of a sequential insertion process, where each segment is pushed further into the tissue while stabilized by the remaining stationary parts, the multi-part probe concept is shown to successfully "insinuate itself" within a synthetic soft tissue specimen without the need for an overall forward push. The presence of an anisotropic microtextured outer probe surface is also shown to affect the overall speed of insertion and can thus be used to optimize the interaction forces at the probe-tissue interface. A measured reduction in the force transferred to the back of the specimen also suggests that this approach to tool insertion may result in reduced tissue disruption, a result which could lead to less tissue damage and a reduction in target displacement.

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  • Citations: 1
• Journal article
  Oldfield M, Dini D, Rodriguez Y Baena F, 2010,

  Detailed finite element simulations of probe insertion into solid elastic material using a cohesive zone approach.

  , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3198-3201, ISSN: 1557-170X

  In this paper a method is presented for detailed finite element modelling of probe insertion into an elastic material. This is part of an ongoing investigation into the mechanics of a novel, biomimetic, soft-tissue probe currently under development at Imperial College, London. Analysis is performed using a 'cohesive zone' approach by integrating multiple cohesive elements into a finite element mesh using Abaqus software. Cohesive zones with variable crack paths, generated by both remote tensile and contact loading, and substantial probe penetration along an arbitrarily curved crack path are demonstrated. These advances are critical to understanding probe interactions for the development of an existing prototype and control strategy.

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• Journal article
  Frasson L, Neubert J, Reina S, Oldfield M, Davies BL, Rodriguez Y Baena Fet al., 2010,

  Development and validation of a numerical model for cross-section optimization of a multi-part probe for soft tissue intervention.

  , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 3202-3205, ISSN: 1557-170X

  The popularity of minimally invasive surgical procedures is driving the development of novel, safer and more accurate surgical tools. In this context a multi-part probe for soft tissue surgery is being developed in the Mechatronics in Medicine Laboratory at Imperial College, London. This study reports an optimization procedure using finite element methods, for the identification of an interlock geometry able to limit the separation of the segments composing the multi-part probe. An optimal geometry was obtained and the corresponding three-dimensional finite element model validated experimentally. Simulation results are shown to be consistent with the physical experiments. The outcome of this study is an important step in the provision of a novel miniature steerable probe for surgery.

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  • Citations: 1
• Conference paper
  Parittotokkaporn T, Frasson L, Schneider A, Davies B, Degenaar P, Baena FRYet al., 2010,

  Insertion Experiments of a Biologically Inspired Microtextured and Multi-Part Probe Based on Reciprocal Motion

  , 32nd Annual International IEEE EMBS Conference
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• Journal article
  Frasson L, Parittotokkaporn T, Davies BL, Rodriguez y Baena Fet al., 2010,

  Early developments of a novel smart actuator inspired by nature

  , International Journal of Intelligent Systems Technologies and Applications, Vol: 8, Pages: 409-422, ISSN: 1740-8865

  Current research at Imperial College focuses on the development of a novel neurosurgical probe for Minimally Invasive Surgery (MIS), which exploits the design of certain ovipositing wasps. While conventional instruments are rigid and only used to achieve straight-line trajectories, the biomimetic design will enable curved paths connecting any entry point to any target within the brain to be followed autonomously. This paper reports on the successful outcome of an early feasibility study, where two of the key concepts behind the design are investigated: a robotic actuator was developed to demonstrate effective soft tissue traversal by reciprocating custom-built anisotropic surface textures, without the need to apply an external force to push the tissue along. Then, custom-designed rigid probes with bio-inspired surface topographies were fabricated and tested on cadaveric porcine brain with the aim to characterise the insertion and extraction forces due to friction and tribological interaction with biological tissue. © 2010 Inderscience Enterprises Ltd.

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  • Citations: 4
• Journal article
  Hopkins AR, New AM, Rodriguez y Baena F, Taylor Met al., 2010,

  Finite element analysis of unicompartmental knee arthroplasty

  , Med Eng Phys, Vol: 32, Pages: 14-21, ISSN: 1350-4533

  Concerns over accelerated damage to the untreated compartment of the knee following unicompartmental knee arthroplasty (UKA), as well as the relatively poor success rates observed for lateral as opposed to the medial arthroplasty, remain issues for attention. Finite element analysis (FEA) was used to assess changes to the kinematics and potential for cartilage damage across the knee joint in response to the implantation of the Oxford Mobile Bearing UKA. FE models of lateral and medial compartment arthroplasty were developed, in addition to a healthy natural knee model, to gauge changes incurred through the arthroplasty. Varus-valgus misalignments were introduced to the femoral components to simulate surgical inaccuracy or over-correction. Boundary conditions from the Stanmore knee simulator during the stance phase of level gait were used. AP translations of the tibia in the medial UKA models were comparable to the behaviour of the natural knee models (+/- 0.6 mm deviation from pre-operative motion). Following lateral UKA, 4.1 mm additional posterior translation of the tibia was recorded than predicted for the natural knee. IF rotations of the medial UKA models were less consistent with the pre-operative knee model than the lateral UKA models (7.7 degrees vs. 3.6 degrees deviation). Varus misalignment of the femoral prosthesis was more influential than valgus for medial UKA kinematics, whereas in lateral UKA, a valgus misalignment of the femoral prosthesis was most influential on the kinematics. Resection of the cartilage in the medial compartment reduced the overall risk of progressive OA in the knee, whereas removing the cartilage from the lateral compartment, and in particular introducing a valgus femoral misalignment, increased the overall risk of progressive OA in the knee. Based on these results, under the conditions tested herein, both medial and lateral UKA can be said to induce kinematics of the knee which could be considered broadly comparable to those of t

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• Journal article
  Frasson L, Parittotokkaporn T, Davies BL, Rodriguez y Baena Fet al., 2010,

  Early developments of a novel smart actuator inspired by nature

  , International Journal of Intelligent Systems Technologies and Applications, Vol: 8, Pages: 409-422, ISSN: 1740-8865
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• Journal article
  Frasson L, Ko SY, Turner A, Parittotokkaporn T, Vincent JF, Rodriguez y Baena Fet al., 2010,

  STING: a soft-tissue intervention and neurosurgical guide to access deep brain lesions through curved trajectories

  , Vol: 224, Pages: 775-788, ISSN: 0954-4119

  Current trends in surgical intervention favour a minimally invasive approach, in which complex procedures are performed through very small incisions. Specifically, in neurosurgery there is a need for minimally invasive keyhole access, which conflicts with the lack of manoeuvrability of conventional rigid instruments. In an attempt to address this shortcoming, the current state of progress is reported on a soft-tissue intervention and neurosurgical guide (STING) to access deep brain lesions through curved trajectories. The underlying mechanism of motion, based on the reciprocal movement of interlocked probe segments, is biologically inspired and was designed around the unique features of the ovipositor of certain parasitic wasps. Work to date has focused on probe development, low- and high-level control, and trajectory planning. These aspects are described, together with results on each aspect of the work, including biomimetic microtexturing of the probe surface. Progress is very encouraging and demonstrates that forward motion into soft tissue through a reciprocating mechanism is indeed viable and can be achieved through a suitable combination of microtexturing and microfabrication techniques.

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• Journal article
  Dogangil G, Davies BL, Rodriguez y Baena F, 2010,

  A review of medical robotics for minimally invasive soft tissue surgery

  , Vol: 224, Pages: 653-679, ISSN: 0954-4119

  This paper provides an overview of recent trends and developments in medical robotics for minimally invasive soft tissue surgery, with a view to highlight some of the issues posed and solutions proposed in the literature. The paper includes a thorough review of the literature, which focuses on soft tissue surgical robots developed and published in the last five years (between 2004 and 2008) in indexed journals and conference proceedings. Only surgical systems were considered; imaging and diagnostic devices were excluded from the review. The systems included in this paper are classified according to the following surgical specialties: neurosurgery; eye surgery and ear, nose, and throat (ENT); general, thoracic, and cardiac surgery; gastrointestinal and colorectal surgery; and urologic surgery. The systems are also cross-classified according to their engineering design and robotics technology, which is included in tabular form at the end of the paper. The review concludes with an overview of the field, along with some statistical considerations about the size, geographical spread, and impact of medical robotics for soft tissue surgery today.

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