In this section

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

@article{Watts:2019:10.1109/TRO.2018.2879584,
author = {Watts, TE and Secoli, R and Rodriguez, y Baena F},
doi = {10.1109/TRO.2018.2879584},
journal = {IEEE Transactions on Robotics},
pages = {371--386},
title = {A mechanics-based model for 3D steering of programmable bevel-tip needles},
url = {http://dx.doi.org/10.1109/TRO.2018.2879584},
volume = {35},
year = {2019}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - We present a model for the steering of programmable bevel-tip needles, along with a set of experiments demonstrating the 3D steering performance of a new, clinically viable, 4-segment, pre-production prototype. A multi-beam approach, based on Euler-Bernoulli beam theory, is used to model the novel multi-segment design of these needles. Finite element simulations for known loads are used to validate the multi-beam deflection model. A clinically sized (2.5 mm outer diameter), 4-segment programmable bevel-tip needle, manufactured by extrusion of a medical-grade polymer, is used to conduct an extensive set of experimental trials to evaluate the steering model. For the first time, we demonstrate the ability of the 4-segment needle design to steer in any direction with a maximum achievable curvature of 0.0192±0.0014 mm¹. Finite element simulations confirm that the multi-beam approach produces a good model fit for tip deflections, with a root-mean-square deviation (RMSD) in modeled tip deflection of 0.2636 mm. We perform a parameter optimization to produce a best-fit steering model for the experimental trials, with a RMSD in curvature prediction of 1.12×10³ mm¹.
AU  - Watts,TE
AU  - Secoli,R
AU  - Rodriguez,y Baena F
DO  - 10.1109/TRO.2018.2879584
EP  - 386
PY  - 2019///
SN  - 1552-3098
SP  - 371
TI  - A mechanics-based model for 3D steering of programmable bevel-tip needles
T2  - IEEE Transactions on Robotics
UR  - http://dx.doi.org/10.1109/TRO.2018.2879584
UR  - http://hdl.handle.net/10044/1/65206
VL  - 35
ER  -