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{Treratanakulchai:2022:10.1109/IROS47612.2022.9981437,
author = {Treratanakulchai, S and Franco, E and Garriga, Casanovas A and Hu, M and Kassanos, P and Rodriguez, y Baena F},
doi = {10.1109/IROS47612.2022.9981437},
pages = {6944--6951},
publisher = {IEEE},
title = {Development of a 6 DOF soft robotic manipulator with integrated sensing Skin},
url = {http://dx.doi.org/10.1109/IROS47612.2022.9981437},
year = {2022}
}

Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This paper presents a new 6 DOF soft roboticmanipulator intended for colorectal surgery. The manipulator,based on a novel design that employs an inextensible tube tolimit axial extension, is shown to maximize the force exertedat its tip and the bending angle, the latter being measuredwith a soft sensing skin. Manufacturing of the prototypeis achieved with a lost-wax silicone-casting technique. Thekinematic model of the manipulator, its workspace, and itsmanipulability are discussed. The prototype is evaluated withextensive experiments, including pressure-deflection measure-ment with and without tip load, and lateral force measurementswith and without the soft sensing skin to assess hysteresis. Theexperimental results indicate that the prototype fulfils the keydesign requirements for colorectal surgery: (i) it can generatesufficient force to perform a range of laparoscopic tasks; (ii) theworkspace is commensurate with the dimensions of the largeintestine; (iii) the soft sensing skin only results in a marginalreduction of the maximum tip rotation within the range ofpressures and external loads relevant for the chosen application.
AU  - Treratanakulchai,S
AU  - Franco,E
AU  - Garriga,Casanovas A
AU  - Hu,M
AU  - Kassanos,P
AU  - Rodriguez,y Baena F
DO  - 10.1109/IROS47612.2022.9981437
EP  - 6951
PB  - IEEE
PY  - 2022///
SP  - 6944
TI  - Development of a 6 DOF soft robotic manipulator with integrated sensing Skin
UR  - http://dx.doi.org/10.1109/IROS47612.2022.9981437
UR  - https://ieeexplore.ieee.org/document/9981437
UR  - http://hdl.handle.net/10044/1/99434
ER  -