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{Virdyawan:2020:10.1109/lra.2020.2969151,
author = {Virdyawan, V and Dessi, O and Rodriguez, y Baena F},
doi = {10.1109/lra.2020.2969151},
journal = {IEEE Robotics and Automation Letters},
pages = {1524--1531},
title = {A novel sensing method to detect tissue boundaries during robotic needle insertion based on laser Doppler flowmetry},
url = {http://dx.doi.org/10.1109/lra.2020.2969151},
volume = {5},
year = {2020}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This study investigates the use of Laser Doppler Flowmetry (LDF) as a method to detect tissue transitions during robotic needle insertions. Insertions were performed in gelatin tissue phantoms with different optical and mechanical properties and into ex-vivo sheep brain. The effect of changing the optical properties of gelatin tissue phantoms was first investigated and it was shown that using gelatin concentration to modify the stiffness of samples was suitable. Needle insertion experiments were conducted into both one-layer and two-layer gelatin phantoms. In both cases, three stages could be observed in the perfusion values: tissue loading, rupture and tissue cutting. These were correlated to force values measured from the tip of the needle during insertion. The insertions into ex-vivo sheep brain also clearly showed the time of rupture in both force and perfusion values, demonstrating that tissue puncture can be detected using an LDF sensor at the tip of a needle.
AU  - Virdyawan,V
AU  - Dessi,O
AU  - Rodriguez,y Baena F
DO  - 10.1109/lra.2020.2969151
EP  - 1531
PY  - 2020///
SN  - 2377-3766
SP  - 1524
TI  - A novel sensing method to detect tissue boundaries during robotic needle insertion based on laser Doppler flowmetry
T2  - IEEE Robotics and Automation Letters
UR  - http://dx.doi.org/10.1109/lra.2020.2969151
UR  - http://hdl.handle.net/10044/1/76889
VL  - 5
ER  -