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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{Beretta:2015:10.5772/60130,
author = {Beretta, E and De, Momi E and Rodriguez, y Baena F and Ferrigno, G},
doi = {10.5772/60130},
journal = {International Journal of Advanced Robotic Systems},
title = {Adaptive hands-on control for reaching and targeting tasks in surgery},
url = {http://dx.doi.org/10.5772/60130},
volume = {12},
year = {2015}
}

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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Cooperatively controlled robotic assistants can be used in surgery for the repetitive execution of targeting/reaching tasks, which require smooth motions and accurate placement of a tool inside a working area. A variable damping controller, based on a priori knowledge of the location of the surgical site, is proposed to enhance the physical human-robot interaction experience. The performance of this and of typical constant damping controllers is comparatively assessed using a redundant light-weight robot. Results show that it combines the positive features of both null (acceleration capabilities > 0.8m/s2) and optimal (mean pointing error < 1.5mm) constant damping controllers, coupled with smooth and intuitive convergence to the target (direction changes reduced by 30%), which ensures that assisted tool trajectories feel natural to the user. An application scenario is proposed for brain cortex stimulation procedures, where the surgeon’s intentions of motion are explicitly defined intra-operatively through an image-guided navigational system.
AU  - Beretta,E
AU  - De,Momi E
AU  - Rodriguez,y Baena F
AU  - Ferrigno,G
DO  - 10.5772/60130
PY  - 2015///
SN  - 1729-8814
TI  - Adaptive hands-on control for reaching and targeting tasks in surgery
T2  - International Journal of Advanced Robotic Systems
UR  - http://dx.doi.org/10.5772/60130
UR  - http://hdl.handle.net/10044/1/32856
VL  - 12
ER  -

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