Mechatronics in Medicine

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• Journal article
  Cao MY, Laws S, Baena FRY, 2021,

  Six-Axis Force/Torque Sensors for Robotics Applications: A Review

  , IEEE SENSORS JOURNAL, Vol: 21, Pages: 27238-27251, ISSN: 1530-437X
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  • Citations: 15
• Journal article
  D'Ettorre C, Mariani A, Stilli A, Baena FRY, Valdastri P, Deguet A, Kazanzides P, Taylor RH, Fischer GS, DiMaio SP, Menciassi A, Stoyanov Det al., 2021,

  Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

  , IEEE ROBOTICS & AUTOMATION MAGAZINE, Vol: 28, Pages: 56-78, ISSN: 1070-9932
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  • Citations: 32
• Journal article
  Treratanakulchai S, Rodriguez y Baena F, 2021,

  A passive decoupling mechanism for misalignment compensation in master-slave teleoperation

  , IEEE Transactions on Medical Robotics and Bionics, Vol: 3, Pages: C2-C2, ISSN: 2576-3202
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• Journal article
  Pinzi M, Vakharia VN, Hwang BY, Anderson WS, Duncan JS, Baena FRYet al., 2021,

  Computer Assisted Planning for Curved Laser Interstitial Thermal Therapy

  , IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, Vol: 68, Pages: 2957-2964, ISSN: 0018-9294
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  • Citations: 2
• Journal article
  Schlueter-Brust K, Henckel J, Katinakis F, Buken C, Opt-Eynde J, Pofahl T, Rodriguez y Baena F, Tatti Fet al., 2021,

  Augmented-reality-assisted K-wire placement for glenoid component positioning in reversed shoulder arthroplasty: a proof-of-concept study

  , Journal of Personalized Medicine, Vol: 11, Pages: 1-8, ISSN: 2075-4426

  The accuracy of the implant’s post-operative position and orientation in reverse shoulder arthroplasty is known to play a significant role in both clinical and functional outcomes. Whilst technologies such as navigation and robotics have demonstrated superior radiological outcomes in many fields of surgery, the impact of augmented reality (AR) assistance in the operating room is still unknown. Malposition of the glenoid component in shoulder arthroplasty is known to result in implant failure and early revision surgery. The use of AR has many promising advantages, including allowing the detailed study of patient-specific anatomy without the need for invasive procedures such as arthroscopy to interrogate the joint’s articular surface. In addition, this technology has the potential to assist surgeons intraoperatively in aiding the guidance of surgical tools. It offers the prospect of increased component placement accuracy, reduced surgical procedure time, and improved radiological and functional outcomes, without recourse to the use of large navigation or robotic instruments, with their associated high overhead costs. This feasibility study describes the surgical workflow from a standardised CT protocol, via 3D reconstruction, 3D planning, and use of a commercial AR headset, to AR-assisted k-wire placement. Post-operative outcome was measured using a high-resolution laser scanner on the patient-specific 3D printed bone. In this proof-of-concept study, the discrepancy between the planned and the achieved glenoid entry point and guide-wire orientation was approximately 3 mm with a mean angulation error of 5°.

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• Journal article
  Iqbal H, Tatti F, Baena FRY, 2021,

  Augmented reality in robotic assisted orthopaedic surgery: A pilot study

  , JOURNAL OF BIOMEDICAL INFORMATICS, Vol: 120, ISSN: 1532-0464
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  • Citations: 11
• Journal article
  Trovatelli M, Brizzola S, Zani DD, Castellano A, Mangili P, Riva M, Woolley M, Johnson D, Baena FRY, Bello L, Falini A, Secoli Ret al., 2021,

  Development and in vivo assessment of a novel MRI-compatible headframe system for the ovine animal model

  , INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, Vol: 17, ISSN: 1478-5951
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  • Citations: 1
• Journal article
  Franco E, Garriga Casanovas A, Tang J, Rodriguez y Baena F, Astolfi Aet al., 2021,

  Position regulation in Cartesian space of a class of inextensible soft continuum manipulators with pneumatic actuation

  , Mechatronics, Vol: 76, Pages: 1-21, ISSN: 0957-4158

  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.

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• Journal article
  Giles JW, Broden C, Tempelaere C, Emery RJH, Rodriguez y Baena Fet al., 2021,

  Development and <i>ex-vivo</i> assessment of a novel patient specific guide and instrumentation system for minimally invasive total shoulder arthroplasty

  , PLOS ONE, Vol: 16, ISSN: 1932-6203
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• Journal article
  Pinzi M, Watts T, Secoli R, Galvan S, Baena FRYet al., 2021,

  Path replanning for orientation-constrained needle steering

  , IEEE Transactions on Biomedical Engineering, Vol: 68, Pages: 1459-1466, ISSN: 0018-9294

  Introduction: Needle-based neurosurgical procedures require high accuracy in catheter positioning to achieve high clinical efficacy. Significant challenges for achieving accurate targeting are (i) tissue deformation (ii) clinical obstacles along the insertion path (iii) catheter control. Objective: We propose a novel path-replanner able to generate an obstacle-free and curvature bounded three-dimensional (3D) path at each time step during insertion, accounting for a constrained target pose and intraoperative anatomical deformation. Additionally, our solution is sufficiently fast to be used in a closed-loop system: needle tip tracking via electromagnetic sensors is used by the path-replanner to automatically guide the programmable bevel-tip needle (PBN) while surgical constraints on sensitive structures avoidance are met. Methods: The generated path is achieved by combining the ”Bubble Bending” method for online path deformation and a 3D extension of a convex optimisation method for path smoothing. Results: Simulation results performed on a realistic dataset show that our replanning method can guide a PBN with bounded curvature to a predefined target pose with an average targeting error of 0.65 ± 0.46 mm in position and 3.25 ± 5.23 degrees in orientation under a deformable simulated environment. The proposed algorithm was also assessed in-vitro on a brain-like gelatin phantom, achieving a target error of 1.81 ± 0.51 mm in position and 5.9 ± 1.42 degrees in orientation. Conclusion: The presented work assessed the performance of a new online steerable needle path-planner able to avoid anatomical obstacles while optimizing surgical criteria. Significance: This method is particularly suited for surgical procedures demanding high accuracy on the desired goal pose under tissue deformations and real-world inaccuracies.

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