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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{Blyth:2016:10.1109/AIM.2016.7576803,
author = {Blyth, WA and Barr, DRW and Rodriguez, Y Baena F},
doi = {10.1109/AIM.2016.7576803},
pages = {419--424},
publisher = {IEEE},
title = {A reduced actuation mecanum wheel platform for pipe inspection},
url = {http://dx.doi.org/10.1109/AIM.2016.7576803},
year = {2016}
}

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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This paper focuses on the design, development and assessment of a novel, 2 degrees-of-freedom magnetic pipe inspection robot. It consists of 4 mecanum wheels, with the diagonals functionally coupled and the system rotation constrained by the surface geometry, maintaining full translational mobility with reduced control and actuation requirements. The system uses positional encoding that is decoupled from the transmission system to overcome the main sources of positional/positioning errors when using mecanum wheels. The kinematic and dynamic models of the system are derived and integrated within the controller. The prototype robot is then tested and shown to follow a scan path at 20mm/s within ±1.5mm whilst correcting for gravitational drift and slip events.
AU  - Blyth,WA
AU  - Barr,DRW
AU  - Rodriguez,Y Baena F
DO  - 10.1109/AIM.2016.7576803
EP  - 424
PB  - IEEE
PY  - 2016///
SP  - 419
TI  - A reduced actuation mecanum wheel platform for pipe inspection
UR  - http://dx.doi.org/10.1109/AIM.2016.7576803
UR  - http://hdl.handle.net/10044/1/33739
ER  -

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