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{Pinzi:2019:10.1007/s11548-019-01923-3,
author = {Pinzi, M and Galvan, S and Rodriguez, y Baena F},
doi = {10.1007/s11548-019-01923-3},
journal = {International Journal of Computer Assisted Radiology and Surgery},
pages = {659--670},
title = {The adaptive hermite fractal tree (AHFT): a novel surgical 3D path planning approach with curvature and heading constraints},
url = {http://dx.doi.org/10.1007/s11548-019-01923-3},
volume = {14},
year = {2019}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - PurposeIn the context of minimally invasive neurosurgery, steerable needles such as the one developed within the Horizon2020-funded EDEN2020 project (Frasson et al. in Proc Inst Mech Eng Part H J Eng Med 224(6):775–88, 2010.  https://doi.org/10.1243/09544119JEIM663; Secoli and y Baena in IEEE international conference on robotics and automation, 2013) aspire to address the clinical challenge of better treatment for cancer patients. The direct, precise infusion of drugs in the proximity of a tumor has been shown to enhance its effectiveness and diffusion in the surrounding tissue (Vogelbaum and Aghi in Neuro-Oncology 17(suppl 2):ii3–ii8, 2015.  https://doi.org/10.1093/neuonc/nou354). However, planning for an appropriate insertion trajectory for needles such as the one proposed by EDEN2020 is challenging due to factors like kinematic constraints, the presence of complex anatomical structures such as brain vessels, and constraints on the required start and target poses.MethodsWe propose a new parallelizable three-dimensional (3D) path planning approach called Adaptive Hermite Fractal Tree (AHFT), which is able to generate 3D obstacle-free trajectories that satisfy curvature constraints given a specified start and target pose. The AHFT combines the Adaptive Fractal Tree algorithm’s efficiency (Liu et al. in IEEE Robot Autom Lett 1(2):601–608, 2016.  https://doi.org/10.1109/LRA.2016.2528292) with optimized geometric Hermite (Yong and Cheng in Comput Aided Geom Des 21(3):281–301, 2004.  https://doi.org/10.1016/j.cagd.2003.08.003) curves, which are able to handle heading constraints.ResultsSimulated results demonstrate the robustness of the AHFT to perturbations of the target position and target heading. Additionally, a simulated preoperative environment, where the surgeon is able to select a desired entry pose on the patient’s skull, confirms the ability of the method to generate multiple feasible trajectories for a patient-specific case
AU  - Pinzi,M
AU  - Galvan,S
AU  - Rodriguez,y Baena F
DO  - 10.1007/s11548-019-01923-3
EP  - 670
PY  - 2019///
SN  - 1861-6429
SP  - 659
TI  - The adaptive hermite fractal tree (AHFT): a novel surgical 3D path planning approach with curvature and heading constraints
T2  - International Journal of Computer Assisted Radiology and Surgery
UR  - http://dx.doi.org/10.1007/s11548-019-01923-3
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000461349600009&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - http://hdl.handle.net/10044/1/69215
VL  - 14
ER  -