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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{Secoli:2016:10.1109/BIOROB.2016.7523603,
author = {Secoli, R and Rodriguez, y Baena F},
doi = {10.1109/BIOROB.2016.7523603},
publisher = {IEEE},
title = {Adaptive path-following control for bio-inspired steerable needles},
url = {http://dx.doi.org/10.1109/BIOROB.2016.7523603},
year = {2016}
}

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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Needle steering systems have shown potential ad-vantages in minimally invasive surgery in soft-tissue due to theirability to reach deep-seated targets while avoiding obstacles. Ingeneral, the control strategies employed to drive the insertionuse  simplified  kinematic  models,  providing  limited  control  ofthe trajectory between an entry site and a deep seated targetin  cases  of  unmodelled  tissue-needle  dynamics.  In  this  work,we present the first Adaptive Path-Following (APF) controllerfor a bio-inspired multi-part needle, able to steer along three-dimensional (3D) paths within a compliant medium by meansof the cyclical motion of interlocked segments and without theneed for duty-cycle spinning along the insertion axis.The control strategy is outlined in two parts: a high-level con-troller, which provides driving commands to follow a predefined3D path smoothly; and a low-level controller, able to counteractunmodelled  tissue-needle  nonlinearities  and  kinematic  modeluncertainties. A simulation that mimics the needle’s mechanicalbehavior during insertion is achieved by using an ExperimentalFitting  Model  (EFM),  obtained  from  previous  experimentaltrials. The Simulation results demonstrate the robustness andadaptability of the proposed control strategy.
AU  - Secoli,R
AU  - Rodriguez,y Baena F
DO  - 10.1109/BIOROB.2016.7523603
PB  - IEEE
PY  - 2016///
TI  - Adaptive path-following control for bio-inspired steerable needles
UR  - http://dx.doi.org/10.1109/BIOROB.2016.7523603
UR  - http://hdl.handle.net/10044/1/32580
ER  -

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