In this section
The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.
Twitter/X: @MIMLab_Robotics
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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{Petersen:2016:10.1109/TRO.2015.2507163,
author = {Petersen, J and Bowyer, S and Rodriguez, y Baena F},
doi = {10.1109/TRO.2015.2507163},
journal = {IEEE Transactions on Robotics},
pages = {201--213},
title = {Mass and friction optimization for natural motion in hands-on robotic surgery},
url = {http://dx.doi.org/10.1109/TRO.2015.2507163},
volume = {32},
year = {2016}
}
TY - JOUR
AB - In hands-on robotic surgery, the surgical tool is mounted on the end-effector of a robot and is directly manipulated by the surgeon. This simultaneously exploits the strengths of both humans and robots, such that the surgeon directly feels tool-tissue interactions and remains in control of the procedure, while taking advantage of the robot's higher precision and accuracy. A crucial challenge in hands-on robotics for delicate manipulation tasks, such as surgery, is that the user must interact with the dynamics of the robot at the end-effector, which can reduce dexterity and increase fatigue. This paper presents a null-space-based optimization technique for simultaneously minimizing the mass and friction of the robot that is experienced by the surgeon. By defining a novel optimization technique for minimizing the projection of the joint friction onto the end-effector, and integrating this with our previous techniques for minimizing the belted mass/inertia as perceived by the hand, a significant reduction in dynamics felt by the user is achieved. Experimental analyses in both simulation and human user trials demonstrate that the presented method can reduce the user-experienced dynamic mass and friction by, on average, 44% and 41%, respectively. The results presented robustly demonstrate that optimizing a robots pose can result in a more natural tool motion, potentially allowing future surgical robots to operate with increased usability, improved surgical outcomes, and wider clinical uptake.
AU - Petersen,J
AU - Bowyer,S
AU - Rodriguez,y Baena F
DO - 10.1109/TRO.2015.2507163
EP - 213
PY - 2016///
SN - 1552-3098
SP - 201
TI - Mass and friction optimization for natural motion in hands-on robotic surgery
T2 - IEEE Transactions on Robotics
UR - http://dx.doi.org/10.1109/TRO.2015.2507163
UR - https://ieeexplore.ieee.org/document/7384515
UR - http://hdl.handle.net/10044/1/28141
VL - 32
ER -
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hamlyn@imperial.ac.uk
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hamlyn.facility@imperial.ac.uk
The Hamlyn Centre
Bessemer Building
South Kensington Campus
Imperial College
London, SW7 2AZ
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