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

@inproceedings{Franco:2021:10.1016/j.ifacol.2020.12.2689,
author = {Franco, E and Tang, J and Garriga, Casanovas A and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1016/j.ifacol.2020.12.2689},
pages = {9847--9852},
publisher = {Elsevier},
title = {Position control of soft manipulators with dynamic and kinematic uncertainties},
url = {http://dx.doi.org/10.1016/j.ifacol.2020.12.2689},
year = {2021}
}

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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This work investigates the position control problem for a soft continuum manipulator in Cartesian space intended for minimally invasive surgery. Soft continuum manipulators have a large number of degrees-of-freedom and are particularly susceptible to external forces because of their compliance. This, in conjunction with the limited number of sensors typically available, results in uncertain kinematics, which further complicates the control problem. We have designed a partial state feedback that compensates the effects of external forces employing a rigid-link model and a port-Hamiltonian approach and we have investigated in detail the use of integral action to achieve position regulation in Cartesian space. Local stability conditions are discussed with a Lyapunov approach. The performance of the controller is compared with that achieved with a radial-basis-functions neural network by means of simulations and experiments on two prototypes.
AU  - Franco,E
AU  - Tang,J
AU  - Garriga,Casanovas A
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1016/j.ifacol.2020.12.2689
EP  - 9852
PB  - Elsevier
PY  - 2021///
SN  - 2405-8963
SP  - 9847
TI  - Position control of soft manipulators with dynamic and kinematic uncertainties
UR  - http://dx.doi.org/10.1016/j.ifacol.2020.12.2689
UR  - http://hdl.handle.net/10044/1/87780
ER  -