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Mechatronics in Medicine

The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.

Head of Group

B415C Bessemer Building
South Kensington Campus

+44 (0)20 7594 7046

What we do

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.

Meet the team

Mr Ayhan Aktas
Casual - Student demonstrator - lower rate

Dr Daniel Bautista Salinas
Research Associate

Dr Kaiwen Chen
Research Associate

Mr Zejian Cui
Research Assistant

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

Citation

BibTex format

@inproceedings{Leibinger:2014:10.1007/978-3-319-02913-9_107,
author = {Leibinger, A and Oldfield, M and Rodriguez, y Baena F},
doi = {10.1007/978-3-319-02913-9_107},
pages = {420--423},
title = {Multi-objective design optimization for a steerable needle for soft tissue surgery},
url = {http://dx.doi.org/10.1007/978-3-319-02913-9_107},
year = {2014}
}

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RIS format (EndNote, RefMan)

TY - CPAPER
AB - A novel steerable probe is being developed to access deep seated targets within soft tissue, with the aim of improving the accuracy of minimally invasive percutaneous needle insertions. Consisting of multiple axially interlocked segments that independently slide along each other, miniaturization of the design is required in order for the needle to be used in surgery. Within this study, a set of parameters which minimizes the risk of both buckling and separation is identified and a design optimization procedure based on finite element models is developed for the needle geometry. Four significant design variables are defined for a genetic multi-objective optimization algorithm. Loads and interactions between the four parts due to curved paths taken inside the soft tissue are modeled using generalized plane strain elements. The optimized set of non-dominated solutions is analyzed. By applying a decision- making process based on the value path method, the nondominated solutions are compared across the four objectives. It is found that smaller and less pronounced interlock features reduce contact forces and improve the sliding performance between needle segments. This results in a trade-off relationship between sliding performance and interlock strength and the most feasible design showing the best performance across all objectives is selected. The outcome is a new optimized design for the needle, which will be manufactured and tested with a suitable controller both in vitro and ex vivo.
AU - Leibinger,A
AU - Oldfield,M
AU - Rodriguez,y Baena F
DO - 10.1007/978-3-319-02913-9_107
EP - 423
PY - 2014///
SN - 1680-0737
SP - 420
TI - Multi-objective design optimization for a steerable needle for soft tissue surgery
UR - http://dx.doi.org/10.1007/978-3-319-02913-9_107
ER -

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