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{Franco:2021:10.1016/j.mechatronics.2021.102573,
author = {Franco, E and Garriga, Casanovas A and Tang, J and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1016/j.mechatronics.2021.102573},
journal = {Mechatronics},
pages = {1--21},
title = {Position regulation in Cartesian space of a class of inextensible soft continuum manipulators with pneumatic actuation},
url = {http://dx.doi.org/10.1016/j.mechatronics.2021.102573},
volume = {76},
year = {2021}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This work investigates the position regulation in Cartesian space of a class of inextensible soft continuum manipulators with pneumatic actuation subject to model uncertainties and to unknown external disturbances that act on the tip. Soft continuum manipulators are characterised by high structural compliance which results in a large number of degrees-of-freedom, only a subset of which can be actuated independently or instrumented with sensors. External disturbances, which are common in many applications, result in uncertain dynamics and in uncertain kinematics thus making the control problem particularly challenging. We have investigated the use of integral action to model the uncertain kinematics of the manipulators, and we have designed a new control law to achieve position regulation in Cartesian space by employing a port-Hamiltonian formulation and a passivity-based approach. In addition, we have compared two adaptive laws that compensate the effects of the external disturbances on the system dynamics. Local stability conditions are discussed with a Lyapunov approach and are related to the controller parameters. The performance of the controller is demonstrated by means of simulations and experiments with two different prototypes.
AU  - Franco,E
AU  - Garriga,Casanovas A
AU  - Tang,J
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1016/j.mechatronics.2021.102573
EP  - 21
PY  - 2021///
SN  - 0957-4158
SP  - 1
TI  - Position regulation in Cartesian space of a class of inextensible soft continuum manipulators with pneumatic actuation
T2  - Mechatronics
UR  - http://dx.doi.org/10.1016/j.mechatronics.2021.102573
UR  - https://www.sciencedirect.com/science/article/pii/S0957415821000635?via%3Dihub
UR  - http://hdl.handle.net/10044/1/89605
VL  - 76
ER  -