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
@inproceedings{Secoli:2016:10.1109/BIOROB.2016.7523603,
author = {Secoli, R and Rodriguez, y Baena F},
doi = {10.1109/BIOROB.2016.7523603},
publisher = {IEEE},
title = {Adaptive path-following control for bio-inspired steerable needles},
url = {http://dx.doi.org/10.1109/BIOROB.2016.7523603},
year = {2016}
}
TY - CPAPER
AB - Needle steering systems have shown potential ad-vantages in minimally invasive surgery in soft-tissue due to theirability to reach deep-seated targets while avoiding obstacles. Ingeneral, the control strategies employed to drive the insertionuse simplified kinematic models, providing limited control ofthe trajectory between an entry site and a deep seated targetin cases of unmodelled tissue-needle dynamics. In this work,we present the first Adaptive Path-Following (APF) controllerfor a bio-inspired multi-part needle, able to steer along three-dimensional (3D) paths within a compliant medium by meansof the cyclical motion of interlocked segments and without theneed for duty-cycle spinning along the insertion axis.The control strategy is outlined in two parts: a high-level con-troller, which provides driving commands to follow a predefined3D path smoothly; and a low-level controller, able to counteractunmodelled tissue-needle nonlinearities and kinematic modeluncertainties. A simulation that mimics the needle’s mechanicalbehavior during insertion is achieved by using an ExperimentalFitting Model (EFM), obtained from previous experimentaltrials. The Simulation results demonstrate the robustness andadaptability of the proposed control strategy.
AU - Secoli,R
AU - Rodriguez,y Baena F
DO - 10.1109/BIOROB.2016.7523603
PB - IEEE
PY - 2016///
TI - Adaptive path-following control for bio-inspired steerable needles
UR - http://dx.doi.org/10.1109/BIOROB.2016.7523603
UR - http://hdl.handle.net/10044/1/32580
ER -
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hamlyn@imperial.ac.uk
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hamlyn.facility@imperial.ac.uk
The Hamlyn Centre
Bessemer Building
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Imperial College
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