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The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.
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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{Matheson:2018:10.1142/S2424905X18420011,
author = {Matheson, E and Secoli, R and Burrows, C and Leibinger, A and Rodriguez, y Baena F},
doi = {10.1142/S2424905X18420011},
journal = {Journal of Medical Robotics Research},
title = {Cyclic motion control for programmable bevel-tip needles to reduce tissue deformation},
url = {http://dx.doi.org/10.1142/S2424905X18420011},
volume = {4},
year = {2018}
}
TY - JOUR
AB - Robotic-assisted steered needles aim to accurately control the deflection of the flexible needle’s tip to achieve accurate path following. In doing so, they can decrease trauma to the patient, by avoiding sensitive regions while increasing placement accuracy. This class of needle presents more complicated kinematics compared to straight needles, which can be exploited to produce specific motion profiles via careful controller design and tuning. Motion profiles can be optimized to minimize certain conditions such as maximum tissue deformation and target migration, which was the goal of the formalized cyclic, low-level controller for a Programmable Bevel-tip Needle (PBN) presented in this work. PBNs are composed of a number of interlocked segments that are able to slide with respect to one another. Producing a controlled, desired offset of the tip geometry leads to the corresponding desired curvature of the PBN, and hence desired path trajectory of the system. Here, we propose a cyclical actuation strategy, where the tip configuration is achieved over a number of reciprocal motion cycles, which we hypothesize will reduce tissue deformation during the insertion process. A series of in vitro, planar needle insertion experiments are performed in order to compare the cyclic controller performance with the previously used direct push controller, in terms of targeting accuracy and tissue deformation. It is found that there is no significant difference between the target tracking performance of the controllers, but a significant decrease in axial tissue deformation when using the cyclic controller.
AU - Matheson,E
AU - Secoli,R
AU - Burrows,C
AU - Leibinger,A
AU - Rodriguez,y Baena F
DO - 10.1142/S2424905X18420011
PY - 2018///
SN - 2424-905X
TI - Cyclic motion control for programmable bevel-tip needles to reduce tissue deformation
T2 - Journal of Medical Robotics Research
UR - http://dx.doi.org/10.1142/S2424905X18420011
UR - http://hdl.handle.net/10044/1/55834
VL - 4
ER -
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