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The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.
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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.
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Mr Ayhan Akta_
Research Postgraduate
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
@article{Virdyawan:2018:1748-3190/aaa6f4,
author = {Virdyawan, V and Rodriguez, y Baena F and Oldfield, M},
doi = {1748-3190/aaa6f4},
journal = {Bioinspiration and Biomimetics},
title = {Laser Doppler sensing for blood vessel detection with a biologically inspired steerable needle},
url = {http://dx.doi.org/10.1088/1748-3190/aaa6f4},
volume = {13},
year = {2018}
}
TY - JOUR
AB - Puncturing blood vessels during percutaneous intervention in minimally invasive brain surgery can be a life threatening complication. Embedding a forward looking sensor in a rigid needle has been proposed to tackle this problem but, when using a rigid needle, the procedure needs to be interrupted and the needle extracted if a vessel is detected. As an alternative, we propose a novel optical method to detect a vessel in front of a steerable needle. The needle itself is based on a biomimetic, multi-segment design featuring four hollow working channels. Initially, a laser Doppler flowmetry probe is characterized in a tissue phantom with optical properties mimicking those of human gray matter. Experiments are performed to show that the probe has a 2.1 mm penetration depth and a 1 mm off-axis detection range for a blood vessel phantom with 5 mm/s flow velocity. This outcome demonstrates that the probe fulfills the minimum requirements for it to be used in conjunction with our needle. A pair of Doppler probes is then embedded in two of the four working channels of the needle and vessel reconstruction is performed using successive measurements to determine the depth and the off-axis position of the vessel from each laser Doppler probe. The off-axis position from each Doppler probe is then used to generate a "detection circle" per probe, and vessel orientation is predicted using tangent lines between the two. The vessel reconstruction has a depth Root Mean Square Error (RMSE) of 0.3 mm and an RMSE of 15° in the angular prediction, showing real promise for a future clinical application of this detection system.
AU - Virdyawan,V
AU - Rodriguez,y Baena F
AU - Oldfield,M
DO - 1748-3190/aaa6f4
PY - 2018///
SN - 1748-3182
TI - Laser Doppler sensing for blood vessel detection with a biologically inspired steerable needle
T2 - Bioinspiration and Biomimetics
UR - http://dx.doi.org/10.1088/1748-3190/aaa6f4
UR - http://hdl.handle.net/10044/1/56009
VL - 13
ER -
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