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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{Matheson:2019:10.1109/ROBIO.2018.8665117,
author = {Matheson, E and Watts, T and Secoli, R and Rodriguez, y Baena F},
doi = {10.1109/ROBIO.2018.8665117},
publisher = {IEEE},
title = {Cyclic motion control for programmable bevel-tip needles 3D steering: a simulation study},
url = {http://dx.doi.org/10.1109/ROBIO.2018.8665117},
year = {2019}
}

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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Flexible,  steerable,  soft  needles  are  desirable  inMinimally  Invasive  Surgery  to  achieve  complex  trajectorieswhile  maintaining  the  benefits  of  percutaneous  interventioncompared to open surgery. One such needle is the multi-segmentProgrammable Bevel-tip Needle (PBN), which is inspired by themechanical  design  of  the  ovipositor  of  certain  wasps.  PBNscan  steer  in  3D  whilst  minimizing  the  force  applied  to  thesurrounding substrate, due to the cyclic motion of the segments.Taking inspiration also from the control strategy of the wasp toperform  insertions  and  lay  their  eggs,  this  paper  presents  thedesign of a cyclic controller that can steer a PBN to produce adesired  trajectory  in  3D.  The  performance  of  the  controller  isdemonstrated  in  simulation  in  comparison  to  that  of  a  directcontroller  without  cyclic  motion.  It  is  shown  that,  while  thesame  steering  curvatures  can  be  attained  by  both  controllers,the  time  taken  to  achieve  the  configuration  is  longer  for  thecyclic  controller,  leading  to  issues  of  potential  under-steeringand  longer  insertion  times.
AU  - Matheson,E
AU  - Watts,T
AU  - Secoli,R
AU  - Rodriguez,y Baena F
DO  - 10.1109/ROBIO.2018.8665117
PB  - IEEE
PY  - 2019///
TI  - Cyclic motion control for programmable bevel-tip needles 3D steering: a simulation study
UR  - http://dx.doi.org/10.1109/ROBIO.2018.8665117
UR  - https://ieeexplore.ieee.org/document/8665117
UR  - http://hdl.handle.net/10044/1/65993
ER  -

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