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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

@inproceedings{Burrows:2015:10.1109/IROS.2015.7353739,
author = {Burrows, C and Liu, F and Rodriguez, y Baena F},
doi = {10.1109/IROS.2015.7353739},
pages = {2653--2658},
publisher = {IEEE},
title = {Smooth on-line path planning for needle steering with non-linear constraints},
url = {http://dx.doi.org/10.1109/IROS.2015.7353739},
year = {2015}
}

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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Percutaneous intervention is a commonly used surgicalprocedure for many diagnostic and therapeutic operations.Target motion in soft tissue during an intervention caused bytissue deformation is a common problem, along with needledisplacement. In this work, we present a deformation plannerthat generates continuous curvature paths with a boundedcurvature derivative that can be used on-line to reach a movingtarget. This planner is computationally inexpensive and can beused for any robotic system, which has finite angular velocity,to reach a mobile target. The deformation planner, is integratedinto a needle steering system using a novel, biologically inspiredneedle, STING, to track a simulated moving target. In-vitroresults in gelatin demonstrate accurate 2D tracking of a movingtarget (mean 0.27 mm end positional error and 0.80approachangle error) over 3 target movement rates.
AU  - Burrows,C
AU  - Liu,F
AU  - Rodriguez,y Baena F
DO  - 10.1109/IROS.2015.7353739
EP  - 2658
PB  - IEEE
PY  - 2015///
SN  - 2153-0858
SP  - 2653
TI  - Smooth on-line path planning for needle steering with non-linear constraints
UR  - http://dx.doi.org/10.1109/IROS.2015.7353739
UR  - http://hdl.handle.net/10044/1/31365
ER  -

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