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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{Ko:2011,
author = {Ko, SY and Frasson, L and Rodriguez, y Baena F},
journal = {Ieee T Robot},
pages = {970--983},
title = {Closed-Loop Planar Motion Control of a Steerable Probe With a "Programmable Bevel" Inspired by Nature},
url = {http://hdl.handle.net/10044/1/14200},
volume = {27},
year = {2011}
}

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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Percutaneous intervention has attracted significant interest in recent years, but many of today's needles and catheters can only provide limited control of the trajectory between an entry site and soft tissue target. In order to address this fundamental shortcoming in minimally invasive surgery, we describe the first prototype of a bioinspired multipart probe that can steer along planar trajectories within a compliant medium by means of a novel "programmable bevel," where the steering angle becomes a function of the offset between interlocked probe segments. A kinematic model of the flexible probe and programmable bevel arrangement is derived. Several parameters of the kinematic model are then calibrated experimentally with a fully functional scaled-up prototype, which is 12mm in diameter. A closed-loop control strategy with feed-forward and feedback components is then derived and implemented in vitro using an approximate linearization strategy that was first developed for car-like robots. Experimental results demonstrate satisfactory 2-D trajectory following of the prototype (0.68 mm tracking error, with 1.45 mm standard deviation) using an electromagnetic position sensor that is embedded at the tip of the probe.
AU  - Ko,SY
AU  - Frasson,L
AU  - Rodriguez,y Baena F
EP  - 983
PY  - 2011///
SN  - 1552-3098
SP  - 970
TI  - Closed-Loop Planar Motion Control of a Steerable Probe With a "Programmable Bevel" Inspired by Nature
T2  - Ieee T Robot
UR  - http://hdl.handle.net/10044/1/14200
VL  - 27
ER  -

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